module-aerodyn.cc File Reference

#include "mbconfig.h"
#include "Rot.hh"
#include "dataman.h"
#include "userelem.h"
#include "drive_.h"
#include "NREL_AeroDyn.h"

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Classes
class	AeroDynModule
struct	AeroDynModule::AeroNode

Macros
#define	USE_SINGLE_PRECISION

Functions
int __FC_DECL__()	getrotorparams (F_REAL *Omega, F_REAL *gamma, F_REAL *VHUB, F_REAL *tau)
int __FC_DECL__()	getbladeparams (F_REAL *psi)
int __FC_DECL__()	getelemparams (F_INTEGER *MulTabLoc, F_REAL *phi, F_REAL *radius, F_REAL *XGRND, F_REAL *YGRND, F_REAL *ZGRND)
int __FC_DECL__()	getvnvt (F_REAL *VX, F_REAL *VY, F_REAL *VZ, F_REAL *VT, F_REAL *VNW, F_REAL *VNE)
int __FC_DECL__()	usrmes (F_LOGICAL *Logical, F_CHAR msg[], F_INTEGER *code, F_CHAR level[])
int	module_init (const char *module_name, void *pdm, void *php)

Variables
static AeroDynModule *	module_aerodyn

Macro Definition Documentation

#define USE_SINGLE_PRECISION

Definition at line 68 of file module-aerodyn.cc.

Function Documentation

int __FC_DECL__() getbladeparams

(

F_REAL *

psi

)

Definition at line 1021 of file module-aerodyn.cc.

References AeroDynModule::GetCurrBladeR(), StructNode::GetRCurr(), AeroDynModule::iGetCurrBlade(), M_PI, module_aerodyn, AeroDynModule::pGetHubNode(), AeroDynModule::pGetNacelleNode(), R, and RotManip::VecRot().

{
        /*
         * This comment is added by Fanzhong MENG 10th.Feb.2008
         * NOTE: Add code here too get blade Azimuth angle.
         * The 6 o'clock position is positive value
         * Variable name is *psi. [rad].
         */
        const Mat3x3& R_nacelle = ::module_aerodyn->pGetNacelleNode()->GetRCurr();
        const Mat3x3& R_hub = ::module_aerodyn->pGetHubNode()->GetRCurr();
        const Mat3x3& R_blade_root = ::module_aerodyn->GetCurrBladeR();
        Mat3x3 R = (R_hub*R_blade_root).MulTM(R_nacelle);
        Vec3 Phi(RotManip::VecRot(R));
        *psi = -Phi(3);

        // unwrap psi (0 <= psi <= 360)
        while (*psi < 0) {
            *psi += 2*M_PI;
        }

#ifdef MODULE_AERODYN_DEBUG
        silent_cerr("getbladeparams: blade=" << ::module_aerodyn->iGetCurrBlade()
                << " psi=" << (*psi)*180/M_PI << std::endl);
#endif // MODULE_AERODYN_DEBUG

        return 0;
}

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int __FC_DECL__() getelemparams	(	F_INTEGER *	MulTabLoc,
		F_REAL *	phi,
		F_REAL *	radius,
		F_REAL *	XGRND,
		F_REAL *	YGRND,
		F_REAL *	ZGRND
	)

Definition at line 1053 of file module-aerodyn.cc.

References AeroDynModule::dGetCurrBladeNodeBuiltinTwist(), AeroDynModule::GetCurrBladeR(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), module_aerodyn, Mat3x3::MulTV(), Vec3::Norm(), AeroDynModule::pGetCurrBladeNode(), AeroDynModule::pGetHubNode(), AeroDynModule::pGetNacelleNode(), R, AeroDynModule::SetCurrBladeNodePITNOW(), Mat3x3::Transpose(), and RotManip::VecRot().

{
        /*
         * This comment is added by Fanzhong MENG 10th.Feb.2008
         * Get coordinates of blade element relative to the undeflected
         * tower top reference frame. At the Hub height.
         * The variable name is *XGRND *YGRND *ZGRND
         */
        /*
         * Get blade elements coordinates X,Y,Z.
         */ 
        Vec3 x = ::module_aerodyn->pGetCurrBladeNode()->GetXCurr()
                - ::module_aerodyn->pGetNacelleNode()->GetXCurr();
        // Maybe we have to modified here. Here we need
        // hub height coordinates.
        *XGRND = x(1);
        *YGRND = x(2);
        *ZGRND = x(3);
        /*
         * Get blade elements radius. It is the perpendicular distance 
         * from the rotor axis to the element aerodynamic reference point.
         */ 
        const Vec3& X_node = ::module_aerodyn->pGetCurrBladeNode()->GetXCurr();
        const Vec3& X_hub = ::module_aerodyn->pGetHubNode()->GetXCurr();
        const Mat3x3& R_nacelle = ::module_aerodyn->pGetNacelleNode()->GetRCurr();
        Vec3 d = R_nacelle.MulTV(X_node - X_hub);
        d(3) = 0.;
        *radius = d.Norm();

        /*
         * Get the blade elements local pitch angle. Here X-axis is in the blade
         * spanwise direction.
         */ 
        // unsigned blade = ::module_aerodyn->iGetCurrBlade();
        const Mat3x3& R_node = ::module_aerodyn->pGetCurrBladeNode()->GetRCurr(); 
        const Mat3x3& R_hub = ::module_aerodyn->pGetHubNode()->GetRCurr();
        const Mat3x3& R_blade_root = ::module_aerodyn->GetCurrBladeR();
        Mat3x3 R = (R_hub*R_blade_root).MulTM(R_node);
        Vec3 Phi(RotManip::VecRot(R.Transpose()));

        // Pitch Now = Pitch + Twist 
        *phi = Phi(1) + ::module_aerodyn->dGetCurrBladeNodeBuiltinTwist();
        ::module_aerodyn->SetCurrBladeNodePITNOW(*phi);

        /* 
         * This comment is added by Fanzhong MENG 10th.Feb.2008
         * When the Multi-airfoil table option is open, we should also 
         * switch on this option. By default, this value should be set to ZERO.
         * I don't know how this Multi-airfoil table work,yet.
         */ 
        *MulTabLoc = 0;

        return 0;
}

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int __FC_DECL__() getrotorparams	(	F_REAL *	Omega,
		F_REAL *	gamma,
		F_REAL *	VHUB,
		F_REAL *	tau
	)

Definition at line 949 of file module-aerodyn.cc.

References grad::atan2(), AeroDynModule::dGetHubTowerXYDistance(), elemout(), StructNode::GetRCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), M_PI, module_aerodyn, AeroDynModule::pGetHubNode(), AeroDynModule::pGetNacelleNode(), AeroDynModule::SetRotorSpeed(), and grad::sqrt().

{
        /*
         * This comment is added by Fanzhong MENG 10th.Feb.2008
         * NOTE: Add code here to get rotorspeed from MBDyn.  
         * Rotor can be running clockwise or ccw.  But the
         * value of *Omega must be positive [rad/s]
         */
        /*
         * PM 2008-09-06:
         * nacelle & rotor axis is node axis 3, positive opposite
         * to wind direction
         */

        const Mat3x3& nacelle_R = ::module_aerodyn->pGetNacelleNode()->GetRCurr();
        const Vec3& hub_Omega = ::module_aerodyn->pGetHubNode()->GetWCurr();
        Vec3 rotation_axis = nacelle_R.GetVec(3);

        *Omega = std::abs(hub_Omega*rotation_axis);
        module_aerodyn->SetRotorSpeed(*Omega);

        /* 
         * This comment is added by Fanzhong MENG 10th.Feb.2008
         * NOTE: Add code here to get Yawangle from MBDyn.  
         * Yaw angle of the shaft relative to the ground reference.
         * Positive value is clockwise when viewed from above of nacelle.
         * Variable name is *gamma. [rad].
         */
        *gamma = std::atan2(-rotation_axis(2), -rotation_axis(1));

        /*
         * This comment is added by Fanzhong MENG 10th.Feb.2008
         * NOTE: Add code here to get tilt angle from MBDyn.
         * Tilt angle of the shaft relative to the ground reference.
         * Positive value is Tilt UP
         * Variable name is *tau. [rad].
         */
        *tau = std::atan2(rotation_axis(3),
                std::sqrt(rotation_axis(1)*rotation_axis(1) + rotation_axis(2)*rotation_axis(2)));

        /*
         * This comment is added by Fanzhong MENG 10th.Feb.2008
         * NOTE: Add code here to get Hub Tangential velocity from MBDyn.
         * Positive value is in the same direction with Yaw Angle.
         * Variable name is *VHUB.[m/s or feet/s]
         */ 
        // *VHUB = hub_Omega(3)*::module_aerodyn->dGetHubTowerXYDistance();
        /* See Emails by Fanzhong Meng August 27, 2010 */
        const Vec3& nacelle_Omega = ::module_aerodyn->pGetNacelleNode()->GetWCurr();
        *VHUB = nacelle_Omega(3)*::module_aerodyn->dGetHubTowerXYDistance();
        
        __FC_DECL__(elemout)();

#ifdef MODULE_AERODYN_DEBUG
        silent_cerr("getrotorparams: "
                "Omega=" << *Omega << " "
                "gamma=" << (*gamma)*180/M_PI << " "
                "tau=" << (*tau)*180/M_PI << " "
                "VHUB=" << *VHUB << std::endl);
#endif // MODULE_AERODYN_DEBUG

        return 0;
}

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int __FC_DECL__() getvnvt	(	F_REAL *	VX,
		F_REAL *	VY,
		F_REAL *	VZ,
		F_REAL *	VT,
		F_REAL *	VNW,
		F_REAL *	VNE
	)

Definition at line 1118 of file module-aerodyn.cc.

References grad::cos(), AeroDynModule::dGetCurrBladeNodePITNOW(), AeroDynModule::GetCurrBladeNodeRa(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), module_aerodyn, Mat3x3::MulTV(), AeroDynModule::pGetCurrBladeNode(), and grad::sin().

{
        /*
         * Fanzhong MENG 18th.Feb.2008.
         * This function returns velocities of the wind
         * and the element in the ground reference frame.
         * VX,VY,VZ are provided by AeroDyn for MBDyn.
         */
        /*
         * This "getvnvt" function is correct now!
         */
        /*
         * velocity of the element related to Ground reference frame.
         */
        const Vec3& ve_G = ::module_aerodyn->pGetCurrBladeNode()->GetVCurr();

        /*
         * velocity of the wind related to Ground reference frame.
         * The "-" sign change the wind velocity from Aerodyn reference frame to MBDyn 
         *  Global reference frame. AeroDyn global reference frame can be found on page 35 of Aerodyn user's guide--Figure C1
         */
        Vec3 vw_G = Vec3(-(*VX), -(*VY), *VZ);

        /*
         * Transform wind vector from ground coordinate system (vw_G) to
         * blade Node reference frame (vw_El)
         */
        const Mat3x3& R_node = ::module_aerodyn->pGetCurrBladeNode()->GetRCurr();
        /*
         * 10th of June. Modified by fanzhong meng.
         * get orientation matrix of node twist with respect to node without pitch.
         */
        const Mat3x3& R_node_twist = ::module_aerodyn->GetCurrBladeNodeRa(); 

        
        Vec3 vw_El = R_node_twist.MulTV( R_node.MulTV(vw_G) );
        Vec3 ve_El = R_node_twist.MulTV( R_node.MulTV(ve_G) );

        /*
         * Calculate SIN and COS value of current pitch angle.
         */

        doublereal PitchNow = ::module_aerodyn->dGetCurrBladeNodePITNOW(); 
        doublereal CPitchNow = std::cos(PitchNow);
        doublereal SPitchNow = std::sin(PitchNow);
        
        /*
         * Play around with these SIN and COS value to get
         * *VT,*VNW and *VNE.
         */

        doublereal vt_wind = -vw_El(2)*CPitchNow - vw_El(3)*SPitchNow;
        doublereal vt_element = ve_El(2)*CPitchNow + ve_El(3)*SPitchNow;

        *VT = vt_wind + vt_element;
        *VNW = -vw_El(2)*SPitchNow + vw_El(3)*CPitchNow;
        /* 
         * Element Normal velocity opposites to the Wind Normal velocity. 
         * You can find is on page 35 of Aerodyn user's guide--Figure C2.
         */
        *VNE = -(-ve_El(2)*SPitchNow + ve_El(3)*CPitchNow);

        return 0;
}

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int module_init	(	const char *	module_name,
		void *	pdm,
		void *	php
	)

Definition at line 1219 of file module-aerodyn.cc.

{
        UserDefinedElemRead *rf = new UDERead<AeroDynModule>;

        if (!SetUDE("aerodyn", rf)) {
                delete rf;

                silent_cerr("module-aerodyn: "
                        "module_init(" << module_name << ") "
                        "failed" << std::endl);

                return -1;
        }

        return 0;
}

int __FC_DECL__() usrmes	(	F_LOGICAL *	Logical,
		F_CHAR	msg[],
		F_INTEGER *	code,
		F_CHAR	level[]
	)

Definition at line 1199 of file module-aerodyn.cc.

References msg.

{
#if 0
        // can't work, unless we know the size of the arrays!
        silent_cerr("module-aerodyn: msg=\"" << msg << "\" "
                "code=" << *code
                << " level=" << level
                << std::endl);
#endif
        silent_cerr("module-aerodyn: diagnostics from AeroDyn, "
                "code=" << *code << std::endl);

        return 0;
}

Variable Documentation

AeroDynModule* module_aerodyn

static

Definition at line 225 of file module-aerodyn.cc.

Referenced by AeroDynModule::AeroDynModule(), getbladeparams(), getelemparams(), getrotorparams(), and getvnvt().