AeroDynModule Class Reference

Inheritance diagram for AeroDynModule:

Collaboration diagram for AeroDynModule:

Classes
struct	AeroNode

Public Member Functions
const StructNode *	pGetNacelleNode (void) const
const StructNode *	pGetHubNode (void) const
void	SetRotorSpeed (doublereal Omega)
doublereal	dGetHubTowerXYDistance (void) const
F_INTEGER	iGetNumBlades (void) const
F_INTEGER	iGetCurrBlade (void) const
const Mat3x3 &	GetCurrBladeR (void) const
F_INTEGER	iGetNumBladeElems (void) const
F_INTEGER	iGetCurrBladeElem (void) const
const StructNode *	pGetCurrBladeNode (void) const
doublereal	dGetCurrBladeNodeBuiltinTwist (void) const
void	SetCurrBladeNodePITNOW (doublereal PITNOW)
doublereal	dGetCurrBladeNodePITNOW (void) const
const Mat3x3 &	GetCurrBladeNodeRa (void) const
	AeroDynModule (unsigned uLabel, const DofOwner *pDO, DataManager *pDM, MBDynParser &HP)
	~AeroDynModule (void)
unsigned int	iGetNumDof (void) const
DofOrder::Order	GetDofType (unsigned int i) const
void	Output (OutputHandler &OH) const
std::ostream &	Restart (std::ostream &out) const
void	WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
void	AfterPredict (VectorHandler &X, VectorHandler &XP)
void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
unsigned int	iGetInitialNumDof (void) const
void	InitialWorkSpaceDim (integer *piNumRows, integer *piNumCols) const
VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)
void	SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *h=0)
unsigned int	iGetNumPrivData (void) const
int	GetNumConnectedNodes (void) const
void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) 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 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)
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	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 unsigned int	iGetPrivDataIdx (const char *s) const
virtual doublereal	dGetPrivData (unsigned int i) const
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 UserDefinedElem
	UserDefinedElem (unsigned uLabel, const DofOwner *pDO)
virtual	~UserDefinedElem (void)
bool	NeedsAirProperties (void) const
void	NeedsAirProperties (bool yesno)
virtual Elem::Type	GetElemType (void) const
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
virtual void	SetInitialValue (VectorHandler &X)
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

Private Attributes
StructNode *	pNacelle
StructNode *	pHub
integer	nblades
integer	nelems
doublereal	Hub_Tower_xy_distance
std::vector< AeroNode >	nodes
std::vector< Mat3x3 >	bladeR
std::string	ofname
std::ofstream	out
Vec3	TF
Vec3	TM
Vec3	TF_h
Vec3	TM_h
doublereal	Thrust
doublereal	Torque
doublereal	Rotor_speed
F_LOGICAL	FirstLoop
F_INTEGER	elem
F_INTEGER	c_elem
F_INTEGER	c_blade
F_REAL	rlocal
F_REAL	r_hub
F_REAL	r_rotor
bool	bFirst
DriveOwner	Time
doublereal	dOldTime
doublereal	dCurTime
F_REAL	dDT
DriveOwner	FSF

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 }
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
Protected Attributes inherited from WithLabel
unsigned int	uLabel
std::string	sName
Protected Attributes inherited from ToBeOutput
flag	fOutput
Protected Attributes inherited from UserDefinedElem
bool	needsAirProperties
Protected Attributes inherited from AirPropOwner
const AirProperties *	pAirProperties
Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 72 of file module-aerodyn.cc.

Constructor & Destructor Documentation

AeroDynModule::AeroDynModule	(	unsigned	uLabel,
		const DofOwner *	pDO,
		DataManager *	pDM,
		MBDynParser &	HP
	)

Definition at line 227 of file module-aerodyn.cc.

References bladeR, c_elem, dCurTime, DriveOwner::dGet(), elem, Eye3, FirstLoop, FSF, MBDynParser::GetDriveCaller(), IncludeParser::GetFileName(), HighParser::GetInt(), WithLabel::GetLabel(), IncludeParser::GetLineData(), MBDynParser::GetPosRel(), StructNode::GetRCurr(), HighParser::GetReal(), MBDynParser::GetRotRel(), HighParser::GetStringWithDelims(), StructDispNode::GetXCurr(), Hub_Tower_xy_distance, HighParser::IsKeyWord(), mbdyn_ad_inputgate(), MBDYN_EXCEPT_ARGS, mbdyn_get_hl_const(), mbdyn_get_tl_const(), mbdyn_init(), mbdyn_sim_time(), mbdyn_true(), module_aerodyn, Mat3x3::MulTV(), nblades, nelems, nodes, Vec3::Norm(), ofname, out, DataManager::pGetDrvHdl(), pHub, pNacelle, r_hub, r_rotor, DataManager::ReadNode(), rlocal, DriveOwner::Set(), Node::STRUCTURAL, Time, RotManip::VecRot(), and Zero3.

: Elem(uLabel, 0),
UserDefinedElem(uLabel, pDO),
bFirst(true)
{
        if (HP.IsKeyWord("help")) {
                /* NOTE: add help message */
                silent_cout(
                "Module: AeroDyn" << std::endl
                << std::endl
                << "Author: Fanzhong Meng, Pierangelo Masarati" << std::endl
                << std::endl
                << "This is the MBDyn interface to AeroDyn, the aerodynamic routines" << std::endl
                << "developed by NREL <http://www.nrel.gov/> to model the aerodynamic" << std::endl
                << "forces acting on wind turbines" << std::endl
                << std::endl
                << "usage:" << std::endl
                << "#Nacelle node; requirements:" << std::endl
                << "#\t\t- axis 3 is the shaft axis, pointing downstream the wind" << std::endl
                << "\t<nacelle node label> ," << std::endl
                << "\t<hub node label> ," << std::endl
                << "\t<pylon top-hub xy distance> ," << std::endl
                << "\t<hub radius> ," << std::endl
                << "\t<rotor radius> ," << std::endl
                << "\t<number of blades> ," << std::endl
                << "\t<number of elements per blade> ," << std::endl
                << "\t# for each blade..." << std::endl
                << "\t#\t- axis 1 in the blade spanwise direction, towards blade tip" << std::endl
                << "\t#\t- axis 2 in coord direction, towards leading edge" << std::endl
                << "\t#\t- axis 3 in thickness direction, towards low pressure side" << std::endl
                << "\t\t<i-th blade root orientation matrix> ," << std::endl
                << "\t\t# for each blade element..." << std::endl
                << "\t\t\t<i-th blade j-th node label>" << std::endl
                << "\t\t\t[ , orientation , <i-th blade j-th node orientation> ]" << std::endl
                << "\t[ , force scale factor , (DriveCaller)<factor> ]" << std::endl
                << "\t[ , output file name , \"<file name>\" ]" << std::endl
                << "\t[ , AeroDyn input file name , \"<file name>\" ]" << std::endl
                << "\t[ , element file name , \"<file name>\" ]" << std::endl
                );
        }

        if (::module_aerodyn != 0) {
                silent_cerr("AeroDynModule::AeroDynModule(" << uLabel << "): "
                        "AeroDyn already in use" << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        /* read nacelle node */
        pNacelle = dynamic_cast<StructNode *>(pDM->ReadNode(HP, Node::STRUCTURAL));
        if (pNacelle == 0) {
                silent_cerr("AeroDynModule(" << GetLabel() << "): "
                        "nacelle node not defined "
                        "at line " << HP.GetLineData() << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        /* read hub node */
        pHub = dynamic_cast<StructNode *>(pDM->ReadNode(HP, Node::STRUCTURAL));
        if (pHub == 0) {
                silent_cerr("AeroDynModule(" << GetLabel() << "): "
                        "hub node not defined "
                        "at line " << HP.GetLineData() << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        Hub_Tower_xy_distance = HP.GetReal();

        r_hub = HP.GetReal();
        
        r_rotor = HP.GetReal();

        /*
         * Initialize AeroDyn package
         *
         * FIXME: does it return an error code?
         */
        char Version[26 + 1];
        snprintf(Version, sizeof(Version), "(%s)", VERSION);
        for (unsigned i = strlen(Version); i < sizeof(Version); i++) {
                Version[i] = ' ';
        }
        Version[sizeof(Version) - 1] = '\0';

        // number of blades
        F_INTEGER NBlades = HP.GetInt();
        if (NBlades <= 0) {
                silent_cerr("AeroDynModule(" << GetLabel() << "): "
                        "invalid number of blades " << NBlades
                        << " at line " << HP.GetLineData()
                        << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        // number of elements per blade
        F_INTEGER NElems = HP.GetInt();
        if (NElems <= 0) {
                silent_cerr("AeroDynModule(" << GetLabel() << "): "
                        "invalid number of elements per blade " << NElems
                        << " at line " << HP.GetLineData()
                        << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        nblades = NBlades;
        nelems = NElems;

        // get blade root orientation(without pitch angle).

        nodes.resize(NBlades*NElems);
        bladeR.resize(NBlades);
        ReferenceFrame rf(pHub);
        for (elem = 0; elem < NBlades*NElems; elem++) {
                if ((elem % NElems) == 0) {
                        /*
                         * Get the orientation matrix of blade root with respect to hub reference frame
                         */ 
                        bladeR[elem/NElems] = HP.GetRotRel(rf);
#if 0
                std::cerr << "Root[" << elem/NElems << "] Rotation Matrix:" << bladeR[elem/NElems] << std::endl;
                std::cerr << "Hub Rotation Matrix:" << pHub->GetRCurr() << std::endl;
                std::cerr << "Nacelle Rotation Matrix:" << pNacelle->GetRCurr() << std::endl<< std::endl;
#endif
                }

                nodes[elem].pNode = dynamic_cast<StructNode *>(pDM->ReadNode(HP, Node::STRUCTURAL));

                // (optional) aerodynamics offset with respect to the node,
                // constant in the reference frame of the node
                if (HP.IsKeyWord("position")) {
                        nodes[elem].f = HP.GetPosRel(ReferenceFrame(nodes[elem].pNode));

                } else {
                        nodes[elem].f = Zero3;
                }

                // (optional) relative orientation between the aerodynamics
                // and the node
                if (HP.IsKeyWord("orientation")) {
                        nodes[elem].Ra = HP.GetRotRel(ReferenceFrame(nodes[elem].pNode));
                        // built-in twist: the component about blade axis 1
                        // (x) of the relative orientation between
                        // the aerodynamics and the node
                        Vec3 Twist(RotManip::VecRot(nodes[elem].Ra));
                        nodes[elem].dBuiltInTwist = -Twist(1);

                } else {
                        nodes[elem].Ra = Eye3;
                        nodes[elem].dBuiltInTwist = 0.;
                }
        }

        if (HP.IsKeyWord("force" "scale" "factor")) {
                FSF.Set(HP.GetDriveCaller());

        } else {
                FSF.Set(new OneDriveCaller);
        }

        if (HP.IsKeyWord("output" "file" "name")) {
                const char *ofname = HP.GetFileName();
                if (ofname == 0) {
                        silent_cerr("AeroDynModule(" << GetLabel() << "): "
                                "unable to get file name "
                                "at line " << HP.GetLineData()
                                << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                ofname = ofname;
                out.open(ofname);
                if (!out) {
                        silent_cerr("AeroDynModule(" << GetLabel() << "): "
                                "unable to open file \"" << ofname << "\" "
                                "at line " << HP.GetLineData()
                                << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                } else {
                        out << std::setw(16) << "Time s"
                            << std::setw(16) << "Thrust kN"
                            << std::setw(16) << "Torque kNm"
                            << std::setw(16) << "R.Speed Rad/s"
                            << std::setw(16) << "Power kW"
                            << std::endl;
                }
        }

        __FC_DECL__(mbdyn_init)(Version, &NBlades, &r_rotor);

        std::string input_file_name;
        std::string elem_file_name;

        if (HP.IsKeyWord("input" "file" "name")) {
                const char *fname = HP.GetStringWithDelims();
                if (fname == 0) {
                        silent_cerr("unable to get input file name "
                                "at line " << HP.GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                input_file_name = fname;
        }

        if (HP.IsKeyWord("element" "file" "name")) {
                const char *fname = HP.GetStringWithDelims();
                if (fname == 0) {
                        silent_cerr("unable to get element file name "
                                "at line " << HP.GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                elem_file_name = fname;
        }

        F_INTEGER input_file_name_len = input_file_name.size();
        F_INTEGER elem_file_name_len = elem_file_name.size();
        int rc = __FC_DECL__(mbdyn_ad_inputgate)((F_CHAR *)input_file_name.c_str(), &input_file_name_len,
                        (F_CHAR *)elem_file_name.c_str(), &elem_file_name_len);
        if (rc != 0) {
                silent_cerr("AeroDynModule(" << GetLabel() << "): "
                        "initialization failed "
                        "(err=" << rc << ")" << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        (void)__FC_DECL__(mbdyn_true)(&FirstLoop);

        // Calculate the Tip and Hub loss constants for AeroDyn.
        for (elem = 0; elem < nelems; elem++) {
                const Vec3& X_node = nodes[elem].pNode->GetXCurr();
                const Vec3& X_hub = pHub->GetXCurr();
                const Mat3x3& R_nacelle = pNacelle->GetRCurr();
                Vec3 d = R_nacelle.MulTV(X_node - X_hub);
                rlocal = (F_REAL)d.Norm();
                c_elem = elem + 1;
                __FC_DECL__(mbdyn_get_tl_const)(&rlocal, &c_elem);
                __FC_DECL__(mbdyn_get_hl_const)(&rlocal, &c_elem, &r_hub);
        }

        // FIXME: only needed when Beddoes and also Dynamic Inflow model are enabled 
        Time.Set(new TimeDriveCaller(pDM->pGetDrvHdl()));
        dCurTime = Time.dGet();
        (void)__FC_DECL__(mbdyn_sim_time)(&dCurTime);

        ::module_aerodyn = this;
}

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AeroDynModule::~AeroDynModule

(

void

)

Definition at line 474 of file module-aerodyn.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Definition at line 729 of file module-aerodyn.cc.

References DriveOwner::dGet(), dOldTime, and Time.

{
        dOldTime = Time.dGet();
}

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void AeroDynModule::AfterPredict ( VectorHandler &  X, VectorHandler &  XP  )

virtual

Reimplemented from SimulationEntity.

Definition at line 705 of file module-aerodyn.cc.

References bFirst, dCurTime, dDT, DriveOwner::dGet(), dOldTime, mbdyn_sim_time(), mbdyn_time_step(), and Time.

{
        bFirst = true;

        /*
         * Get the current simulation time and time step!
         * MENG: 19 June 2008.
         */ 
        dDT = Time.dGet() - dOldTime;
        dCurTime = Time.dGet();
        (void)__FC_DECL__(mbdyn_sim_time)(&dCurTime);
        (void)__FC_DECL__(mbdyn_time_step)(&dDT);
}

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

virtual

Implements Elem.

Definition at line 519 of file module-aerodyn.cc.

References VariableSubMatrixHandler::SetNullMatrix().

{
        // should do something useful
        WorkMat.SetNullMatrix();

        return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 531 of file module-aerodyn.cc.

References VectorHandler::Add(), aerofrcintrface(), ASSERT, bFirst, bladeR, c, c_blade, c_elem, grad::cos(), grad::Cross(), DriveOwner::dGet(), elem, FirstLoop, FSF, StructNode::GetRCurr(), Mat3x3::GetVec(), StructDispNode::GetXCurr(), mbdyn_com_data(), mbdyn_false(), Mat3x3::MulTV(), nblades, nelems, nodes, pHub, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), grad::sin(), TF, TF_h, Thrust, TM, TM_h, Torque, WorkSpaceDim(), and Zero3.

{
        integer iNumRows = 0;
        integer iNumCols = 0;
        WorkSpaceDim(&iNumRows, &iNumCols);
        
        WorkVec.ResizeReset(iNumRows);

        /*
         * set sub-vector indices and coefs
         */

        if (bFirst) {
                c_blade = 0;
                Mat3x3 BladeR;
                Vec3 BladeAxis;

                // force scale factor to "ramp up" loads
                doublereal dFSF = FSF.dGet();

                // sanity check
                ASSERT(dFSF >= 0.);
                ASSERT(dFSF <= 1.);

                for (elem = 0; elem < nelems*nblades; elem++) {
                        /*
                         * get the current blade number.
                         */ 
                        if ((elem % nelems) == 0) {
                                c_blade++;
                                BladeR = pHub->GetRCurr()*bladeR[c_blade];
                                BladeAxis = BladeR.GetVec(1);
                        }

                        /*
                         * get force/moment
                         */
                        F_REAL          DFN, DFT, PMA;
        
                        c_elem = elem%nelems + 1;
                        (void)__FC_DECL__(mbdyn_com_data)(&c_blade, &c_elem);

                        /*
                         * Get blade elements radius. It is the perpendicular distance 
                         * from the rotor axis to the element aerodynamic reference point.
                         */ 

                        /*
                         * forces and moments are in the blade reference frame,
                         * not in the element's.
                         */
                        __FC_DECL__(aerofrcintrface)(&FirstLoop, &c_elem, &DFN, &DFT, &PMA);
                        
                        // ramp forces in the very first second up to ease convergence
                        DFN *= dFSF;
                        DFT *= dFSF;
                        PMA *= dFSF;

                        nodes[elem].FN = DFN;
                        nodes[elem].FT = DFT;
                        nodes[elem].AM = PMA;

#ifdef MODULE_AERODYN_DEBUG
                        silent_cerr("aerodyn[" << elem << "] in rotation plane: DFN=" << DFN << " DFT=" << DFT << " PMA=" << PMA << std::endl);
#endif // MODULE_AERODYN_DEBUG
                        /*
                         * turn force/moment into the node frame (blade element frame used by Aerodyn to calculation forces)
                         * (passing thru local element frame),
                         * including offset
                         */

                        doublereal c = std::cos(nodes[elem].PITNOW);
                        doublereal s = std::sin(nodes[elem].PITNOW);
                        nodes[elem].F = Vec3(0., DFT*c - DFN*s, DFT*s + DFN*c);
                        nodes[elem].M = nodes[elem].Ra.GetVec(1)*PMA + nodes[elem].f.Cross(nodes[elem].F);


#ifdef MODULE_AERODYN_DEBUG

                silent_cerr("Moment on Node[" << elem << "]: " << nodes[elem].f.Cross(nodes[elem].F) << std::endl);

#endif // MODULE_AERODYN_DEBUG

#ifdef MODULE_AERODYN_DEBUG
                        silent_cerr(std::setprecision(3) << std::fixed
                                  << " aerodyn[" << elem << "]"
                                  << " F = " << nodes[elem].F 
                                  << " M = " << nodes[elem].M
                                  << " FN = " << nodes[elem].FN
                                  << " FN = " << nodes[elem].FT
                                  << " AM = " << nodes[elem].AM
                                  << std::endl << std::endl);
#endif // MODULE_AERODYN_DEBUG

                }

#ifdef MODULE_AERODYN_DEBUG
               silent_cerr(std::endl);
#endif // MODULE_AERODYN_DEBUG

                bFirst = false;
        }


        TF = Vec3(Zero3);
        TM = Vec3(Zero3);
        for (elem = 0; elem < nblades*nelems; elem++) {
                /*
                 * set indices where force/moment need to be put
                 */
                integer iFirstIndex = nodes[elem].pNode->iGetFirstMomentumIndex();
                for (int i = 1; i <= 6; i++) {
                        WorkVec.PutRowIndex(6*elem + i, iFirstIndex + i);
                }

                /*
                 * add force/moment to residual, after rotating them
                 * into the global frame
                 */
                /*
                 * Transfer the force/moment to global frame. 
                 */      
                WorkVec.Add(6*elem + 1, nodes[elem].pNode->GetRCurr()*(nodes[elem].Ra*nodes[elem].F));
                WorkVec.Add(6*elem + 4, nodes[elem].pNode->GetRCurr()*(nodes[elem].Ra*nodes[elem].M));

                /*
                 * calculate the force and moment contributions on the rotor in absolute frame.
                 */
                const Vec3& Xp = nodes[elem].pNode->GetXCurr();
                const Vec3& Xh = pHub->GetXCurr();

                TF = TF + nodes[elem].pNode->GetRCurr()*nodes[elem].Ra*nodes[elem].F;
                TM = TM + nodes[elem].pNode->GetRCurr()*nodes[elem].Ra*nodes[elem].M
                        + (Xp-Xh).Cross(nodes[elem].pNode->GetRCurr()*nodes[elem].Ra*nodes[elem].F);
        }

        /*
         * Transfer the force/moment to hub reference frame.
         */
        const Mat3x3& Rh = pHub->GetRCurr();
        TF_h = Rh.MulTV(TF);
        TM_h = Rh.MulTV(TM);

        /*
         * The 3rd component of TF_h and TM_h are the rotor Thrust and rotor Torque.
         */
        Thrust = TF_h(3);
        Torque = TM_h(3);
  
        /* 
         * make sure next time FirstLoop will be false
         */
        if (FirstLoop) {
                (void)__FC_DECL__(mbdyn_false)(&FirstLoop);
        }
        
        return WorkVec;
}

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doublereal AeroDynModule::dGetCurrBladeNodeBuiltinTwist

(

void

)

const

Definition at line 896 of file module-aerodyn.cc.

References ASSERT, elem, nblades, nelems, and nodes.

Referenced by getelemparams().

{
        ASSERT(elem >= 0);
        ASSERT(elem < nblades*nelems);

        return nodes[elem].dBuiltInTwist;
}

doublereal AeroDynModule::dGetCurrBladeNodePITNOW

(

void

)

const

Definition at line 915 of file module-aerodyn.cc.

References ASSERT, elem, nblades, nelems, and nodes.

Referenced by getvnvt().

{
        ASSERT(elem >= 0);
        ASSERT(elem < nblades*nelems);

        return nodes[elem].PITNOW;
}

doublereal AeroDynModule::dGetHubTowerXYDistance

(

void

)

const

Definition at line 835 of file module-aerodyn.cc.

References Hub_Tower_xy_distance.

Referenced by getrotorparams().

{
        return Hub_Tower_xy_distance;
}

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

virtual

Reimplemented from Elem.

Definition at line 796 of file module-aerodyn.cc.

References nodes, pHub, and pNacelle.

{
        /*
         * set args according to element connections
         */
        connectedNodes.resize(nodes.size() + 2);

        unsigned n;
        for (n = 0; n < nodes.size(); n++) {
                connectedNodes[n] = nodes[n].pNode;
        }

        connectedNodes[n++] = pNacelle;
        connectedNodes[n++] = pHub;
}

const Mat3x3 & AeroDynModule::GetCurrBladeNodeRa

(

void

)

const

Definition at line 925 of file module-aerodyn.cc.

References ASSERT, elem, nblades, nelems, and nodes.

Referenced by getvnvt().

{
        ASSERT(elem >= 0);
        ASSERT(elem < nblades*nelems);

        return nodes[elem].Ra;
}

const Mat3x3 & AeroDynModule::GetCurrBladeR

(

void

)

const

Definition at line 859 of file module-aerodyn.cc.

References ASSERT, bladeR, c_blade, and nblades.

Referenced by getbladeparams(), and getelemparams().

{
        ASSERT(c_blade >= 0);
        ASSERT(c_blade < nblades);

        return bladeR[c_blade - 1];
}

DofOrder::Order AeroDynModule::GetDofType ( unsigned int  i ) const

virtual

Reimplemented from Elem.

Definition at line 486 of file module-aerodyn.cc.

References DofOrder::UNKNOWN.

{
        return DofOrder::UNKNOWN;
}

int AeroDynModule::GetNumConnectedNodes ( void  ) const

virtual

Reimplemented from Elem.

Definition at line 790 of file module-aerodyn.cc.

References nodes.

{
        return nodes.size() + 2;
}

F_INTEGER AeroDynModule::iGetCurrBlade

(

void

)

const

Definition at line 849 of file module-aerodyn.cc.

References ASSERT, c_blade, and nblades.

Referenced by getbladeparams().

{
        ASSERT(c_blade >= 0);
        ASSERT(c_blade < nblades);

        return c_blade;
}

F_INTEGER AeroDynModule::iGetCurrBladeElem

(

void

)

const

Definition at line 876 of file module-aerodyn.cc.

References ASSERT, elem, nblades, and nelems.

{
        ASSERT(elem >= 0);
        ASSERT(elem < nblades*nelems);

        return elem;
}

unsigned int AeroDynModule::iGetInitialNumDof ( void  ) const

virtual

Implements SubjectToInitialAssembly.

Definition at line 737 of file module-aerodyn.cc.

{
        return 0;
}

F_INTEGER AeroDynModule::iGetNumBladeElems

(

void

)

const

Definition at line 869 of file module-aerodyn.cc.

References nelems.

{
        return nelems;
}

F_INTEGER AeroDynModule::iGetNumBlades

(

void

)

const

Definition at line 842 of file module-aerodyn.cc.

References nblades.

{
        return nblades;
}

unsigned int AeroDynModule::iGetNumDof ( void  ) const

virtual

Reimplemented from Elem.

Definition at line 480 of file module-aerodyn.cc.

{
        return 0;
}

unsigned int AeroDynModule::iGetNumPrivData ( void  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 784 of file module-aerodyn.cc.

{
        return 0;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 750 of file module-aerodyn.cc.

References ASSERT, and VariableSubMatrixHandler::SetNullMatrix().

{
        // should not be called, since initial workspace is empty
        ASSERT(0);

        WorkMat.SetNullMatrix();

        return WorkMat;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 763 of file module-aerodyn.cc.

References ASSERT, and VectorHandler::ResizeReset().

{
        // should not be called, since initial workspace is empty
        ASSERT(0);

        WorkVec.ResizeReset(0);

        return WorkVec;
}

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void AeroDynModule::InitialWorkSpaceDim ( integer *  piNumRows, integer *  piNumCols  ) const

virtual

Implements SubjectToInitialAssembly.

Definition at line 743 of file module-aerodyn.cc.

References nblades, and nelems.

{
        *piNumRows = 6*nblades*nelems;
        *piNumCols = 1;
}

void AeroDynModule::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 492 of file module-aerodyn.cc.

References dCurTime, out, Rotor_speed, Thrust, and Torque.

{
        if (out) {
                out << std::scientific
                    << std::setw(16) << dCurTime 
                    << std::setw(16) << Thrust/1000.0
                    << std::setw(16) << Torque/1000.0
                    << std::setw(16) << Rotor_speed
                    << std::setw(16) << Torque*Rotor_speed/1000.0
                    << std::endl; 
        }
}

const StructNode * AeroDynModule::pGetCurrBladeNode

(

void

)

const

Definition at line 886 of file module-aerodyn.cc.

References ASSERT, elem, nblades, nelems, and nodes.

Referenced by getelemparams(), and getvnvt().

{
        ASSERT(elem >= 0);
        ASSERT(elem < nblades*nelems);

        return nodes[elem].pNode;
}

const StructNode * AeroDynModule::pGetHubNode

(

void

)

const

Definition at line 821 of file module-aerodyn.cc.

References pHub.

Referenced by getbladeparams(), getelemparams(), and getrotorparams().

{
        return pHub;
}

const StructNode * AeroDynModule::pGetNacelleNode

(

void

)

const

Definition at line 814 of file module-aerodyn.cc.

References pNacelle.

Referenced by getbladeparams(), getelemparams(), and getrotorparams().

{
        return pNacelle;
}

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

virtual

Implements Elem.

Definition at line 506 of file module-aerodyn.cc.

{
        return out << "not implemented yet;" << std::endl;
}

void AeroDynModule::SetCurrBladeNodePITNOW

(

doublereal

PITNOW

)

Definition at line 906 of file module-aerodyn.cc.

References ASSERT, elem, nblades, nelems, and nodes.

Referenced by getelemparams().

{
        ASSERT(elem >= 0);
        ASSERT(elem < nblades*nelems);

        nodes[elem].PITNOW = PITNOW;
}

void AeroDynModule::SetRotorSpeed

(

doublereal

Omega

)

Definition at line 828 of file module-aerodyn.cc.

References Rotor_speed.

Referenced by getrotorparams().

{
        Rotor_speed = Omega;
}

void AeroDynModule::SetValue ( DataManager *  pDM, VectorHandler &  X, VectorHandler &  XP, SimulationEntity::Hints *  h = 0  )

virtual

Reimplemented from SimulationEntity.

Definition at line 776 of file module-aerodyn.cc.

References bFirst.

{
        bFirst = true;
}

void AeroDynModule::WorkSpaceDim ( integer *  piNumRows, integer *  piNumCols  ) const

virtual

Implements Elem.

Definition at line 512 of file module-aerodyn.cc.

References nblades, and nelems.

Referenced by AssRes().

{
        *piNumRows = 6*nblades*nelems;
        *piNumCols = 1;
}

Member Data Documentation

bool AeroDynModule::bFirst

private

Definition at line 142 of file module-aerodyn.cc.

Referenced by AfterPredict(), AssRes(), and SetValue().

std::vector<Mat3x3> AeroDynModule::bladeR

private

Definition at line 115 of file module-aerodyn.cc.

Referenced by AeroDynModule(), AssRes(), and GetCurrBladeR().

F_INTEGER AeroDynModule::c_blade

private

Definition at line 137 of file module-aerodyn.cc.

Referenced by AssRes(), GetCurrBladeR(), and iGetCurrBlade().

F_INTEGER AeroDynModule::c_elem

private

Definition at line 136 of file module-aerodyn.cc.

Referenced by AeroDynModule(), and AssRes().

doublereal AeroDynModule::dCurTime

private

Definition at line 145 of file module-aerodyn.cc.

Referenced by AeroDynModule(), AfterPredict(), and Output().

F_REAL AeroDynModule::dDT

private

Definition at line 146 of file module-aerodyn.cc.

Referenced by AfterPredict().

doublereal AeroDynModule::dOldTime

private

Definition at line 144 of file module-aerodyn.cc.

Referenced by AfterConvergence(), and AfterPredict().

F_INTEGER AeroDynModule::elem

private

Definition at line 135 of file module-aerodyn.cc.

Referenced by AeroDynModule(), AssRes(), dGetCurrBladeNodeBuiltinTwist(), dGetCurrBladeNodePITNOW(), GetCurrBladeNodeRa(), iGetCurrBladeElem(), pGetCurrBladeNode(), and SetCurrBladeNodePITNOW().

F_LOGICAL AeroDynModule::FirstLoop

private

Definition at line 134 of file module-aerodyn.cc.

Referenced by AeroDynModule(), and AssRes().

DriveOwner AeroDynModule::FSF

private

Definition at line 148 of file module-aerodyn.cc.

Referenced by AeroDynModule(), and AssRes().

doublereal AeroDynModule::Hub_Tower_xy_distance

private

Definition at line 109 of file module-aerodyn.cc.

Referenced by AeroDynModule(), and dGetHubTowerXYDistance().

integer AeroDynModule::nblades

private

Definition at line 106 of file module-aerodyn.cc.

Referenced by AeroDynModule(), AssRes(), dGetCurrBladeNodeBuiltinTwist(), dGetCurrBladeNodePITNOW(), GetCurrBladeNodeRa(), GetCurrBladeR(), iGetCurrBlade(), iGetCurrBladeElem(), iGetNumBlades(), InitialWorkSpaceDim(), pGetCurrBladeNode(), SetCurrBladeNodePITNOW(), and WorkSpaceDim().

integer AeroDynModule::nelems

private

Definition at line 107 of file module-aerodyn.cc.

Referenced by AeroDynModule(), AssRes(), dGetCurrBladeNodeBuiltinTwist(), dGetCurrBladeNodePITNOW(), GetCurrBladeNodeRa(), iGetCurrBladeElem(), iGetNumBladeElems(), InitialWorkSpaceDim(), pGetCurrBladeNode(), SetCurrBladeNodePITNOW(), and WorkSpaceDim().

std::vector<AeroNode> AeroDynModule::nodes

private

Definition at line 114 of file module-aerodyn.cc.

Referenced by AeroDynModule(), AssRes(), dGetCurrBladeNodeBuiltinTwist(), dGetCurrBladeNodePITNOW(), GetConnectedNodes(), GetCurrBladeNodeRa(), GetNumConnectedNodes(), pGetCurrBladeNode(), and SetCurrBladeNodePITNOW().

std::string AeroDynModule::ofname

private

Definition at line 117 of file module-aerodyn.cc.

Referenced by AeroDynModule().

std::ofstream AeroDynModule::out

mutableprivate

Definition at line 118 of file module-aerodyn.cc.

Referenced by AeroDynModule(), and Output().

StructNode* AeroDynModule::pHub

private

Definition at line 104 of file module-aerodyn.cc.

Referenced by AeroDynModule(), AssRes(), GetConnectedNodes(), and pGetHubNode().

StructNode* AeroDynModule::pNacelle

private

Nacelle node; requirements:

• axis 3 is the shaft axis
• axis 3 in wind direction

Definition at line 103 of file module-aerodyn.cc.

Referenced by AeroDynModule(), GetConnectedNodes(), and pGetNacelleNode().

F_REAL AeroDynModule::r_hub

private

Definition at line 139 of file module-aerodyn.cc.

Referenced by AeroDynModule().

F_REAL AeroDynModule::r_rotor

private

Definition at line 140 of file module-aerodyn.cc.

Referenced by AeroDynModule().

F_REAL AeroDynModule::rlocal

private

Definition at line 138 of file module-aerodyn.cc.

Referenced by AeroDynModule().

doublereal AeroDynModule::Rotor_speed

private

Definition at line 129 of file module-aerodyn.cc.

Referenced by Output(), and SetRotorSpeed().

Vec3 AeroDynModule::TF

private

Definition at line 123 of file module-aerodyn.cc.

Referenced by AssRes().

Vec3 AeroDynModule::TF_h

private

Definition at line 125 of file module-aerodyn.cc.

Referenced by AssRes().

doublereal AeroDynModule::Thrust

private

Definition at line 127 of file module-aerodyn.cc.

Referenced by AssRes(), and Output().

DriveOwner AeroDynModule::Time

private

Definition at line 143 of file module-aerodyn.cc.

Referenced by AeroDynModule(), AfterConvergence(), and AfterPredict().

Vec3 AeroDynModule::TM

private

Definition at line 124 of file module-aerodyn.cc.

Referenced by AssRes().

Vec3 AeroDynModule::TM_h

private

Definition at line 126 of file module-aerodyn.cc.

Referenced by AssRes().

doublereal AeroDynModule::Torque

private

Definition at line 128 of file module-aerodyn.cc.

Referenced by AssRes(), and Output().

---

The documentation for this class was generated from the following file:

• module-aerodyn.cc