DynamicInflowRotor Class Reference

#include <rotor.h>

Inheritance diagram for DynamicInflowRotor:

Collaboration diagram for DynamicInflowRotor:

Public Member Functions
	DynamicInflowRotor (unsigned int uLabel, const DofOwner *pDO)
	DynamicInflowRotor (unsigned int uLabel, const DofOwner *pDO, const StructNode *pCraft, const Mat3x3 &rrot, const StructNode *pRotor, const StructNode *pGround, ResForceSet **ppres, const doublereal &dOR, const doublereal &dR, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, const doublereal &dCH, const doublereal &dCFF, const doublereal &dVConstTmp, const doublereal &dVSineTmp, const doublereal &dVCosineTmp, flag fOut)
virtual	~DynamicInflowRotor (void)
virtual unsigned int	iGetNumDof (void) const
virtual void	Output (OutputHandler &OH) const
virtual void	WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual std::ostream &	Restart (std::ostream &out) const
virtual void	SetInitialValue (VectorHandler &X)
virtual void	SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0)
InducedVelocity::Type	GetInducedVelocityType (void) const
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
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)
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 Rotor
	Rotor (unsigned int uL, const DofOwner *pDO)
	Rotor (unsigned int uL, const DofOwner *pDO, const StructNode *pC, const Mat3x3 &rrot, const StructNode *pR, const StructNode *pG, ResForceSet **ppres, const doublereal &dR, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, flag fOut)
virtual	~Rotor (void)
virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
virtual const Vec3 &	GetXCurr (void) const
virtual doublereal	dGetOmega (void) const
virtual doublereal	dGetRadius (void) const
virtual doublereal	dGetMu (void) const
virtual const Vec3 &	GetForces (void) const
virtual const Vec3 &	GetMoments (void) const
virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const
Public Member Functions inherited from InducedVelocityElem
	InducedVelocityElem (unsigned int uL, const DofOwner *pDO, const StructNode *pCraft, ResForceSet **ppres, flag fOut)
virtual	~InducedVelocityElem (void)
virtual Elem::Type	GetElemType (void) const
virtual AerodynamicElem::Type	GetAerodynamicElemType (void) const
virtual DofOrder::Order	GetDofType (unsigned int i) const
Public Member Functions inherited from AerodynamicElem
	AerodynamicElem (unsigned int uL, const DofOwner *pDO, flag fOut)
virtual	~AerodynamicElem (void)
virtual bool	NeedsAirProperties (void) const
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 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 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)

Protected Member Functions
virtual void	Init (const StructNode *pCraft, const Mat3x3 &rrot, const StructNode *pRotor, const StructNode *pGround, ResForceSet **ppres, const doublereal &dOR, const doublereal &dR, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, const doublereal &dCH, const doublereal &dCFF, const doublereal &dVConstTmp, const doublereal &dVSineTmp, const doublereal &dVCosineTmp, flag fOut)
Protected Member Functions inherited from Rotor
virtual doublereal	dGetPsi (const Vec3 &X) const
virtual doublereal	dGetPos (const Vec3 &X) const
virtual void	GetPos (const Vec3 &X, doublereal &dr, doublereal &dp) const
virtual void	InitParam (bool bComputeMeanInducedVelocity=true)
virtual void	Init (const StructNode *pC, const Mat3x3 &rrot, const StructNode *pR, const StructNode *pG, ResForceSet **ppres, const doublereal &dR, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, flag fOut)

Protected Attributes
doublereal	dVConst
doublereal	dVSine
doublereal	dVCosine
doublereal	dL11
doublereal	dL13
doublereal	dL22
doublereal	dL31
doublereal	dL33
Protected Attributes inherited from WithLabel
unsigned int	uLabel
std::string	sName
Protected Attributes inherited from ToBeOutput
flag	fOutput
Protected Attributes inherited from Rotor
const StructNode *	pRotor
const StructNode *	pGround
doublereal	dOmegaRef
doublereal	dRadius
doublereal	dVTipRef
doublereal	dArea
doublereal	dUMean
doublereal	dUMeanRef
doublereal	dUMeanPrev
unsigned int	iMaxIter
unsigned int	iCurrIter
doublereal	dTolerance
doublereal	dEta
bool	bUMeanRefConverged
DriveOwner	Weight
doublereal	dWeight
doublereal	dHoverCorrection
doublereal	dForwardFlightCorrection
Mat3x3	RRotTranspose
Mat3x3	RRot
Vec3	RRot3
Vec3	VCraft
doublereal	dPsi0
doublereal	dSinAlphad
doublereal	dCosAlphad
doublereal	dMu
doublereal	dLambda
doublereal	dChi
doublereal	dVelocity
doublereal	dOmega
int	iNumSteps
Protected Attributes inherited from AirPropOwner
const AirProperties *	pAirProperties
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 }

Detailed Description

Definition at line 543 of file rotor.h.

Constructor & Destructor Documentation

DynamicInflowRotor::DynamicInflowRotor	(	unsigned int	uLabel,
		const DofOwner *	pDO
	)

Definition at line 1537 of file rotor.cc.

References NO_OP.

: Elem(uLabel, flag(0)),
Rotor(uLabel, pDO),
dVConst(0), dVSine(0), dVCosine(0),
dL11(0.), dL13(0.), dL22(0.), dL31(0.), dL33(0.)
{
        NO_OP;
}

DynamicInflowRotor::DynamicInflowRotor	(	unsigned int	uLabel,
		const DofOwner *	pDO,
		const StructNode *	pCraft,
		const Mat3x3 &	rrot,
		const StructNode *	pRotor,
		const StructNode *	pGround,
		ResForceSet **	ppres,
		const doublereal &	dOR,
		const doublereal &	dR,
		unsigned int	iMaxIt,
		const doublereal &	dTol,
		const doublereal &	dE,
		const doublereal &	dCH,
		const doublereal &	dCFF,
		const doublereal &	dVConstTmp,
		const doublereal &	dVSineTmp,
		const doublereal &	dVCosineTmp,
		flag	fOut
	)

Definition at line 1546 of file rotor.cc.

References Init().

: Elem(uLabel, flag(0)),
Rotor(uLabel, pDO),
dVConst(0), dVSine(0), dVCosine(0),
dL11(0.), dL13(0.), dL22(0.), dL31(0.), dL33(0.)
{
        Init(pCraft, rrot, pRotor, pGround, ppres, dOR, dR,
                iMaxIt, dTol, dE, dCH, dCFF,
                dVConstTmp, dVSineTmp, dVCosineTmp, fOut);
}

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DynamicInflowRotor::~DynamicInflowRotor ( void  )

virtual

Definition at line 1640 of file rotor.cc.

References SAFEDELETE, and SAFEDELETEARR.

{
#ifdef USE_MPI
        SAFEDELETEARR(pBlockLenght);
        SAFEDELETEARR(pDispl);
        SAFEDELETE(pIndVelDataType);
#endif /* USE_MPI */
}

Member Function Documentation

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

virtual

Reimplemented from InducedVelocity.

Definition at line 2003 of file rotor.cc.

References InducedVelocity::AddForce(), ResForces::AddForces(), ToBeOutput::bToBeOutput(), MYSLEEP, and InducedVelocity::Res.

{
        /*
         * Gli serve la trazione ed il momento rispetto al rotore,
         * che si calcola da se'
         */
#ifdef USE_MPI
        if (ReqV != MPI::REQUEST_NULL) {
                while (!ReqV.Test()) {
                        MYSLEEP(mysleeptime);
                }
        }
#endif /* USE_MPI */

#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
        pthread_mutex_lock(&forces_mutex);
        Wait();
#endif /* USE_MULTITHREAD && MBDYN_X_MT_ASSRES */

        Res.AddForces(F, M, X);
        if (bToBeOutput()) {
                InducedVelocity::AddForce(pEl, pNode, F, M, X);
        }

#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
        pthread_mutex_unlock(&forces_mutex);
#endif /* USE_MULTITHREAD && MBDYN_X_MT_ASSRES */
}

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

virtual

Implements Elem.

Definition at line 1755 of file rotor.cc.

References DEBUGCOUT, dL11, dL13, dL22, dL31, dL33, dM11, dM22, dM33, DofOwnerOwner::iGetFirstIndex(), SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetNullMatrix(), and VariableSubMatrixHandler::SetSparse().

{
        DEBUGCOUT("Entering DynamicInflowRotor::AssJac()" << std::endl);

        WorkMat.SetNullMatrix();

#ifdef USE_MPI
        if (is_parallel && IndVelComm.Get_rank() == 0)
#endif /* USE_MPI */
        {
                SparseSubMatrixHandler& WM = WorkMat.SetSparse();
                integer iFirstIndex = iGetFirstIndex();

                WM.ResizeReset(5, 0);

                WM.PutItem(1, iFirstIndex + 1, iFirstIndex + 1, dM11 + dCoef*dL11);
                WM.PutItem(2, iFirstIndex + 3, iFirstIndex + 1, dCoef*dL31);
                WM.PutItem(3, iFirstIndex + 2, iFirstIndex + 2, dM22 + dCoef*dL22);
                WM.PutItem(4, iFirstIndex + 1, iFirstIndex + 3, dCoef*dL13);
                WM.PutItem(5, iFirstIndex + 3, iFirstIndex + 3, dM33 + dCoef*dL33);
        }

        return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 1785 of file rotor.cc.

References grad::cos(), Rotor::dArea, Rotor::dChi, Rotor::dCosAlphad, DEBUGCOUT, Rotor::dForwardFlightCorrection, AirPropOwner::dGetAirDensity(), Rotor::dHoverCorrection, dL11, dL13, dL22, dL31, dL33, Rotor::dLambda, dM11, dM22, dM33, Rotor::dMu, Rotor::dOmega, Rotor::dPsi0, Rotor::dRadius, Rotor::dSinAlphad, Rotor::dUMean, dVConst, dVCosine, Rotor::dVelocity, dVSine, Rotor::dVTipRef, dVTipTreshold, ResForces::Force(), Elem::GetElemType(), GetInducedVelocity(), WithLabel::GetLabel(), Rotor::GetPos(), StructNode::GetRCurr(), Rotor::GetXCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), Rotor::InitParam(), M_PI, ResForces::Moment(), InducedVelocity::pCraft, Rotor::pRotor, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), InducedVelocity::Res, InducedVelocity::ResetForce(), VectorHandler::Resize(), Rotor::RRot3, Rotor::RRotTranspose, grad::sin(), grad::sqrt(), grad::tan(), and Rotor::VCraft.

{
        DEBUGCOUT("Entering DynamicInflowRotor::AssRes()" << std::endl);

#ifdef USE_MPI
        ExchangeLoads(flag(1));

        if (!is_parallel || IndVelComm.Get_rank() == 0)
#endif /* USE_MPI */
        {
                /* Calcola parametri vari */
                Rotor::InitParam();

                WorkVec.Resize(3);

                integer iFirstIndex = iGetFirstIndex();

                WorkVec.PutRowIndex(1, iFirstIndex + 1);
                WorkVec.PutRowIndex(2, iFirstIndex + 2);
                WorkVec.PutRowIndex(3, iFirstIndex + 3);

                dVConst = XCurr(iFirstIndex + 1);
                dVSine = XCurr(iFirstIndex + 2);
                dVCosine = XCurr(iFirstIndex + 3);

                doublereal dVConstPrime = XPrimeCurr(iFirstIndex + 1);
                doublereal dVSinePrime = XPrimeCurr(iFirstIndex + 2);
                doublereal dVCosinePrime = XPrimeCurr(iFirstIndex + 3);

                doublereal dCT = 0.;
                doublereal dCl = 0.;
                doublereal dCm = 0.;

                /*
                 * Attenzione: moltiplico tutte le equazioni per dOmega
                 * (ovvero, i coefficienti CT, CL e CM sono divisi
                 * per dOmega anziche' dOmega^2)
                 */

                dL11 = 0.;
                dL13 = 0.;
                dL22 = 0.;
                dL31 = 0.;
                dL33 = 0.;

                doublereal dDim = dGetAirDensity(GetXCurr())*dArea*dOmega*(dRadius*dRadius);
                if (dDim > std::numeric_limits<doublereal>::epsilon()) {
                        /*
                         * From Claudio Monteggia:
                         *
                         *                        Ct
                         * Um = -------------------------------------
                         *       sqrt( lambda^2 / KH^4 + mu^2 / KF^2)
                         */
                        doublereal dLambdaTmp
                                = dLambda/(dHoverCorrection*dHoverCorrection);
                        doublereal dMuTmp = dMu/dForwardFlightCorrection;

                        doublereal dVT
                                = sqrt(dLambdaTmp*dLambdaTmp + dMuTmp*dMuTmp);
                        doublereal dVm = 0.;
                        if (dVT > dVTipTreshold*dVTipRef) {
                                dVm = (dMuTmp*dMuTmp + dLambdaTmp*(dLambdaTmp + dVConst))/dVT;
                        }

                        /*
                         * dUMean is just for output;
                         */
                        dUMean = dVConst*dOmega*dRadius;

                        /* Trazione nel sistema rotore */
                        doublereal dT = RRot3*Res.Force();

                        /* Momento nel sistema rotore-vento */
                        doublereal dCosP = cos(dPsi0);
                        doublereal dSinP = sin(dPsi0);
                        Mat3x3 RTmp( dCosP, -dSinP, 0.,
                                        dSinP, dCosP, 0.,
                                        0., 0., 1.);

                        Vec3 M(RTmp*(RRotTranspose*Res.Moment()));

                        /* Thrust, roll and pitch coefficients */
                        dCT = dT/dDim;
                        dDim *= dRadius;
                        dCl = - M(1)/dDim;
                        dCm = - M(2)/dDim;

                        if (dVT > std::numeric_limits<doublereal>::epsilon()
                                && dVm > std::numeric_limits<doublereal>::epsilon())
                        {

                                /* Matrix coefficients */
                                /* FIXME: divide by 0? */
                                doublereal dl11 = .5/dVT;
                                /* FIXME: divide by 0? */
                                doublereal d = 15./64.*M_PI*tan(dChi/2.);
                                /* FIXME: divide by 0? */
                                doublereal dl13 = d/dVm;
                                /* FIXME: divide by 0? */
                                doublereal dl31 = d/dVT;

                                doublereal dCosChi2 = cos(dChi/2.);
                                d = 2.*dCosChi2*dCosChi2;
                                /* FIXME: divide by 0? */
                                doublereal dl22 = -4./(d*dVm);
                                /* FIXME: divide by 0? */
                                doublereal dl33 = -4.*(d - 1)/(d*dVm);
        
                                d = dl11*dl33 - dl31*dl13;
                                /* FIXME: divide by 0? */
                                dL11 = dOmega*dl33/d;
                                dL31 = -dOmega*dl31/d;
                                dL13 = -dOmega*dl13/d;
                                dL33 = dOmega*dl11/d;
                                dL22 = dOmega/dl22;
                        }
                }
        
#ifdef DEBUG
                /* Prova: */
                static int i = -1;
                int iv[] = { 0, 1, 0, -1, 0 };
                if (++i == 4) {
                        i = 0;
                }
                Vec3 XTmp(pRotor->GetXCurr()+pCraft->GetRCurr()*Vec3(dRadius*iv[i],dRadius*iv[i+1],0.));
                doublereal dPsiTmp, dXTmp;
                GetPos(XTmp, dXTmp, dPsiTmp);
                Vec3 IndV = GetInducedVelocity(GetElemType(), GetLabel(), 0, XTmp);
                std::cout
                        << "X rotore:  " << pRotor->GetXCurr() << std::endl
                        << "V rotore:  " << VCraft << std::endl
                        << "X punto:   " << XTmp << std::endl
                        << "Omega:     " << dOmega << std::endl
                        << "Velocita': " << dVelocity << std::endl
                        << "Psi0:      " << dPsi0 << " ("
                                << dPsi0*180./M_PI << " deg)" << std::endl
                        << "Psi punto: " << dPsiTmp << " ("
                                << dPsiTmp*180./M_PI << " deg)" << std::endl
                        << "Raggio:    " << dRadius << std::endl
                        << "r punto:   " << dXTmp << std::endl
                        << "mu:        " << dMu << std::endl
                        << "lambda:    " << dLambda << std::endl
                        << "cos(ad):   " << dCosAlphad << std::endl
                        << "sin(ad):   " << dSinAlphad << std::endl
                        << "UMean:     " << dUMean << std::endl
                        << "iv punto:  " << IndV << std::endl;
#endif /* DEBUG */

                WorkVec.PutCoef(1, dCT - dM11*dVConstPrime
                                - dL11*dVConst - dL13*dVCosine);
                WorkVec.PutCoef(2, dCl - dM22*dVSinePrime
                                - dL22*dVSine);
                WorkVec.PutCoef(3, dCm - dM33*dVCosinePrime
                                - dL31*dVConst - dL33*dVCosine);

#ifdef USE_MPI
        } else {
                WorkVec.Resize(0);
#endif /* USE_MPI */
        }

#ifdef USE_MPI
        ExchangeVelocity();
#endif /* USE_MPI */

        /* Ora la trazione non serve piu' */
        ResetForce();

#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
        Done();
#endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES

        return WorkVec;
}

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

virtual

Implements InducedVelocity.

Definition at line 2037 of file rotor.cc.

References grad::cos(), Rotor::dOmega, Rotor::dRadius, dVConst, dVCosine, dVSine, Rotor::GetPos(), Rotor::RRot3, and grad::sin().

Referenced by AssRes().

{
#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
        Wait();
#endif /* USE_MULTITHREAD && MBDYN_X_MT_ASSRES */

        doublereal dr, dp;
        GetPos(X, dr, dp);

        return RRot3*((dVConst + dr*(dVCosine*cos(dp) + dVSine*sin(dp)))*dRadius*dOmega);
};

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InducedVelocity::Type DynamicInflowRotor::GetInducedVelocityType ( void  ) const

inlinevirtual

Implements InducedVelocity.

Definition at line 635 of file rotor.h.

References InducedVelocity::DYNAMICINFLOW.

                                                               {
                return InducedVelocity::DYNAMICINFLOW;
        };

virtual unsigned int DynamicInflowRotor::iGetNumDof ( void  ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 595 of file rotor.h.

                                                    {
                return 3;
        };

void DynamicInflowRotor::Init ( const StructNode *  pCraft, const Mat3x3 &  rrot, const StructNode *  pRotor, const StructNode *  pGround, ResForceSet **  ppres, const doublereal &  dOR, const doublereal &  dR, unsigned int  iMaxIt, const doublereal &  dTol, const doublereal &  dE, const doublereal &  dCH, const doublereal &  dCFF, const doublereal &  dVConstTmp, const doublereal &  dVSineTmp, const doublereal &  dVCosineTmp, flag  fOut  )

protectedvirtual

Definition at line 1575 of file rotor.cc.

References ASSERT, Rotor::dArea, Rotor::dForwardFlightCorrection, Rotor::dHoverCorrection, Rotor::dOmega, Rotor::dOmegaRef, Rotor::dPsi0, Rotor::dRadius, dVConst, dVCosine, dVSine, Rotor::dVTipRef, Rotor::dWeight, Rotor::Init(), M_PI, Mat3x3::pGetMat(), Vec3::pGetVec(), ExternResForces::Pole(), InducedVelocity::Res, Rotor::RRot3, Rotor::RRotTranspose, SAFENEWARR, and SAFENEWWITHCONSTRUCTOR.

Referenced by DynamicInflowRotor().

{
        ASSERT(dOR > 0.);
        ASSERT(dR > 0.);

        Rotor::Init(pCraft, rrot, pRotor, pGround, ppres, dR, iMaxIt, dTol, dE, fOut);

        dVConst = dVConstTmp;
        dVSine = dVSineTmp;
        dVCosine = dVCosineTmp;

        dOmegaRef = dOR;
        dVTipRef = dOmegaRef*dRadius;
        dArea = M_PI*dRadius*dRadius;

        dHoverCorrection = dCH;
        dForwardFlightCorrection = dCFF;

        /* Significa che valuta la velocita' indotta media al passo corrente */
        dWeight = 0.;

#ifdef USE_MPI
        if (is_parallel) {
                SAFENEWARR(pBlockLenght, int, 20);
                SAFENEWARR(pDispl, MPI::Aint, 20);
                for (int i = 0; i < 20; i++) {
                        pBlockLenght[i] = 1;
                }
                for (int i = 0; i < 3; i++) {
                        pDispl[i] = MPI::Get_address(RRot3.pGetVec()+i);
                }
                pDispl[3] = MPI::Get_address(&dVConst);
                pDispl[4] = MPI::Get_address(&dVSine);
                pDispl[5] = MPI::Get_address(&dVCosine);
                pDispl[6] = MPI::Get_address(&dOmega);
                pDispl[7] = MPI::Get_address(&dPsi0);
                for (int i = 8; i <= 10; i++) {
                        pDispl[i] = MPI::Get_address(Res.Pole().pGetVec()+i-8);
                }
                for (int i = 11; i < 20; i++) {
                        pDispl[i] = MPI::Get_address(RRotTranspose.pGetMat()+i-11);
                }
                SAFENEWWITHCONSTRUCTOR(pIndVelDataType, MPI::Datatype,
                                MPI::Datatype(MPI::DOUBLE.Create_hindexed(20, pBlockLenght, pDispl)));
                pIndVelDataType->Commit();
        }
#endif /* USE_MPI */
}

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void DynamicInflowRotor::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from Rotor.

Definition at line 1651 of file rotor.cc.

References grad::atan2(), ToBeOutput::bToBeOutput(), Rotor::bUMeanRefConverged, Rotor::dChi, Rotor::dCosAlphad, Rotor::dLambda, Rotor::dMu, Rotor::dPsi0, Rotor::dSinAlphad, Rotor::dUMean, dVConst, dVCosine, Rotor::dVelocity, dVSine, ResForces::Force(), WithLabel::GetLabel(), Rotor::iCurrIter, ResForces::Moment(), InducedVelocity::ppRes, InducedVelocity::Res, OutputHandler::Rotors(), and Rotor::RRotTranspose.

{
        /*
         * FIXME: posso usare dei temporanei per il calcolo della trazione
         * totale per l'output, cosi' evito il giro dei cast
         */
        if (bToBeOutput()) {
#ifdef USE_MPI
                if (is_parallel && IndVelComm.Get_size() > 1) {
                        if (IndVelComm.Get_rank() == 0) {
                                Vec3 TmpF(pTmpVecR), TmpM(pTmpVecR+3);

                                OH.Rotors()
                                        << std::setw(8) << GetLabel()   /* 1 */
                                        << " " << RRotTranspose*TmpF /* 2-4 */
                                        << " " << RRotTranspose*TmpM /* 5-7 */
                                        << " " << dUMean        /* 8 */
                                        << " " << dVelocity     /* 9 */
                                        << " " << atan2(dSinAlphad, dCosAlphad) /* 10 */
                                        << " " << dMu           /* 11 */
                                        << " " << dLambda       /* 12 */
                                        << " " << dChi          /* 13 */
                                        << " " << dPsi0         /* 14 */
                                        << " " << bUMeanRefConverged /* 15 */
                                        << " " << iCurrIter     /* 16 */
                                        << " " << dVConst       /* 17 */
                                        << " " << dVSine        /* 18 */
                                        << " " << dVCosine      /* 19 */
                                        << std::endl;

                                for (int i = 0; ppRes && ppRes[i]; i++) {
                                        Vec3 TmpF(pTmpVecR+6+6*i);
                                        Vec3 TmpM(pTmpVecR+9+6*i);

                                        OH.Rotors()
                                                << std::setw(8) << GetLabel()
                                                << ":" << ppRes[i]->GetLabel()
                                                << " " << TmpF
                                                << " " << TmpM
                                                << std::endl;
                                }
                        }
                } else {
                        OH.Rotors()
                                << std::setw(8) << GetLabel()   /* 1 */
                                << " " << RRotTranspose*Res.Force()  /* 2-4 */
                                << " " << RRotTranspose*Res.Moment() /* 5-7 */
                                << " " << dUMean        /* 8 */
                                << " " << dVelocity     /* 9 */
                                << " " << atan2(dSinAlphad, dCosAlphad) /* 10 */
                                << " " << dMu           /* 11 */
                                << " " << dLambda       /* 12 */
                                << " " << dChi          /* 13 */
                                << " " << dPsi0         /* 14 */
                                << " " << bUMeanRefConverged /* 15 */
                                << " " << iCurrIter     /* 16 */
                                << " " << dVConst       /* 17 */
                                << " " << dVSine        /* 18 */
                                << " " << dVCosine      /* 19 */
                                << std::endl;

                        for (int i = 0; ppRes && ppRes[i]; i++) {
                                OH.Rotors()
                                        << std::setw(8) << GetLabel()
                                        << ":" << ppRes[i]->GetLabel()
                                        << " " << ppRes[i]->pRes->Force()
                                        << " " << ppRes[i]->pRes->Moment()
                                        << std::endl;
                        }
                }

#else /* !USE_MPI */
                OH.Rotors()
                        << std::setw(8) << GetLabel()   /* 1 */
                        << " " << RRotTranspose*Res.Force()     /* 2-4 */
                        << " " << RRotTranspose*Res.Moment()    /* 5-7 */
                        << " " << dUMean        /* 8 */
                        << " " << dVelocity     /* 9 */
                        << " " << atan2(dSinAlphad,dCosAlphad)  /* 10 */
                        << " " << dMu           /* 11 */
                        << " " << dLambda       /* 12 */
                        << " " << dChi          /* 13 */
                        << " " << dPsi0         /* 14 */
                        << " " << bUMeanRefConverged /* 15 */
                        << " " << iCurrIter     /* 16 */
                        << " " << dVConst       /* 17 */
                        << " " << dVSine        /* 18 */
                        << " " << dVCosine      /* 19 */
                        << std::endl;

                for (int i = 0; ppRes && ppRes[i]; i++) {
                        OH.Rotors()
                                << std::setw(8) << GetLabel()
                                << ":" << ppRes[i]->GetLabel()
                                << " " << ppRes[i]->pRes->Force()
                                << " " << ppRes[i]->pRes->Moment()
                                << std::endl;
                }
#endif /* !USE_MPI */
        }
}

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

virtual

Reimplemented from Rotor.

Definition at line 1993 of file rotor.cc.

References Rotor::dForwardFlightCorrection, Rotor::dHoverCorrection, Rotor::dRadius, and Rotor::Restart().

{
        return Rotor::Restart(out) << "dynamic inflow, " << dRadius
                << ", correction, " << dHoverCorrection
                << ", " << dForwardFlightCorrection << ';' << std::endl;
}

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void DynamicInflowRotor::SetInitialValue ( VectorHandler &  X )

virtual

Reimplemented from Rotor.

Definition at line 1967 of file rotor.cc.

References NO_OP.

{
        NO_OP;
}

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

virtual

Reimplemented from SimulationEntity.

Definition at line 1975 of file rotor.cc.

References dVConst, dVCosine, dVSine, DofOwnerOwner::iGetFirstIndex(), and VectorHandler::PutCoef().

{
        integer iFirstIndex = iGetFirstIndex();

        for (int iCnt = 1; iCnt <= 3; iCnt++) {
                XP.PutCoef(iFirstIndex + iCnt, 0.);
        }

        X.PutCoef(iFirstIndex + 1, dVConst);
        X.PutCoef(iFirstIndex + 2, dVSine);
        X.PutCoef(iFirstIndex + 3, dVCosine);
}

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virtual void DynamicInflowRotor::WorkSpaceDim ( integer *  piNumRows, integer *  piNumCols  ) const

inlinevirtual

Implements Elem.

Definition at line 604 of file rotor.h.

                                                                                {
                *piNumRows = 3;
                *piNumCols = 3;
        };

Member Data Documentation

doublereal DynamicInflowRotor::dL11

protected

Definition at line 549 of file rotor.h.

Referenced by AssJac(), and AssRes().

doublereal DynamicInflowRotor::dL13

protected

Definition at line 550 of file rotor.h.

Referenced by AssJac(), and AssRes().

doublereal DynamicInflowRotor::dL22

protected

Definition at line 551 of file rotor.h.

Referenced by AssJac(), and AssRes().

doublereal DynamicInflowRotor::dL31

protected

Definition at line 552 of file rotor.h.

Referenced by AssJac(), and AssRes().

doublereal DynamicInflowRotor::dL33

protected

Definition at line 553 of file rotor.h.

Referenced by AssJac(), and AssRes().

doublereal DynamicInflowRotor::dVConst

protected

Definition at line 545 of file rotor.h.

Referenced by AssRes(), GetInducedVelocity(), Init(), Output(), and SetValue().

doublereal DynamicInflowRotor::dVCosine

protected

Definition at line 547 of file rotor.h.

Referenced by AssRes(), GetInducedVelocity(), Init(), Output(), and SetValue().

doublereal DynamicInflowRotor::dVSine

protected

Definition at line 546 of file rotor.h.

Referenced by AssRes(), GetInducedVelocity(), Init(), Output(), and SetValue().

---

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

• rotor.h
• rotor.cc