Rotor Class Reference

#include <rotor.h>

Inheritance diagram for Rotor:

Collaboration diagram for Rotor:

Public Member Functions
	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 void	Output (OutputHandler &OH) const
virtual std::ostream &	Restart (std::ostream &out) const
virtual void	SetInitialValue (VectorHandler &)
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 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 SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)=0
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 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 unsigned int	iGetNumDof (void) const
virtual InducedVelocity::Type	GetInducedVelocityType (void) const =0
virtual void	AddForce (const Elem *pEl, const StructNode *pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)
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 Vec3	GetInducedVelocity (Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const =0
virtual void	WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual void	SetValue (DataManager *pDM, VectorHandler &, VectorHandler &, SimulationEntity::Hints *ph=0)

Protected Member Functions
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
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 WithLabel
unsigned int	uLabel
std::string	sName
Protected Attributes inherited from ToBeOutput
flag	fOutput
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 43 of file rotor.h.

Constructor & Destructor Documentation

Rotor::Rotor	(	unsigned int	uL,
		const DofOwner *	pDO
	)

Definition at line 59 of file rotor.cc.

References NO_OP.

: Elem(uL, flag(0)),
InducedVelocityElem(uL, pDO, 0, 0, flag(0)),
pRotor(0), pGround(0),
dOmegaRef(0.), dRadius(0), dVTipRef(0.), dArea(0.),
dUMean(0.), dUMeanRef(0.), dUMeanPrev(0.),
iMaxIter(0),
iCurrIter(0),
dTolerance(0),
dEta(0),
bUMeanRefConverged(false),
Weight(), dWeight(0.),
dHoverCorrection(1.), dForwardFlightCorrection(1.),
RRotTranspose(::Zero3x3), RRot(::Eye3), RRot3(::Zero3),
VCraft(::Zero3),
dPsi0(0.), dSinAlphad(1.), dCosAlphad(0.),
dMu(0.), dLambda(1.), dChi(0.),
dVelocity(0.), dOmega(0.),
iNumSteps(0)
{
        NO_OP;
}

Rotor::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
	)

Definition at line 82 of file rotor.cc.

References Init().

: Elem(uL, fOut),
InducedVelocityElem(uL, pDO, 0, 0, flag(0)),
pRotor(0), pGround(0),
dOmegaRef(0.), dRadius(0), dVTipRef(0.), dArea(0.),
dUMean(0.), dUMeanRef(0.), dUMeanPrev(0.),
iMaxIter(0),
iCurrIter(0),
dTolerance(0),
dEta(0),
bUMeanRefConverged(false),
Weight(), dWeight(0.),
dHoverCorrection(1.), dForwardFlightCorrection(1.),
RRotTranspose(::Zero3x3), RRot(::Eye3), RRot3(::Zero3),
VCraft(::Zero3),
dPsi0(0.), dSinAlphad(1.), dCosAlphad(0.),
dMu(0.), dLambda(1.), dChi(0.),
dVelocity(0.), dOmega(0.),
iNumSteps(0)
{
        Init(pC, rrot, pR, pG, ppres, dR, iMaxIt, dTol, dE, fOut);
}

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Rotor::~Rotor ( void  )

virtual

Definition at line 146 of file rotor.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

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

virtual

Reimplemented from InducedVelocity.

Definition at line 152 of file rotor.cc.

References InducedVelocity::AfterConvergence(), DriveOwner::dGet(), dUMean, dUMeanPrev, dWeight, WithLabel::GetLabel(), iNumSteps, DriveOwner::pGetDriveCaller(), and Weight.

{
        /* non mi ricordo a cosa serve! */
        iNumSteps++;

        /* updates the umean at the previous step */
        dUMeanPrev = dUMean;

        /*
        * FIXME: should go in AfterPredict ...
        * this way there's a one step delay in the weight value
        */
        if (Weight.pGetDriveCaller() != 0) {
                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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virtual doublereal Rotor::dGetMu ( void  ) const

inlinevirtual

Definition at line 165 of file rotor.h.

References dMu.

Referenced by RotorTrim::GetData().

                                                     {
#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
                Wait();
#endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES
                return dMu;
        };

virtual doublereal Rotor::dGetOmega ( void  ) const

inlinevirtual

Definition at line 151 of file rotor.h.

References dOmega.

Referenced by AerodynamicBody::AssJac(), AerodynamicBeam::AssJac(), AerodynamicBeam2::AssJac(), AerodynamicBody::AssVec(), AerodynamicBeam::AssVec(), AerodynamicBeam2::AssVec(), and RotorTrim::GetData().

                                                        {
#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
                Wait();
#endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES
                return dOmega;
        };

doublereal Rotor::dGetPos ( const Vec3 &  X ) const

protectedvirtual

Definition at line 296 of file rotor.cc.

References GetPos().

Referenced by UniformRotor::AssRes(), and ManglerRotor::AssRes().

{
        doublereal dr, dp;
        GetPos(X, dr, dp);
        return dr;
}

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doublereal Rotor::dGetPsi ( const Vec3 &  X ) const

protectedvirtual

Definition at line 286 of file rotor.cc.

References GetPos().

Referenced by UniformRotor::AssRes(), and ManglerRotor::AssRes().

{
        doublereal dr, dp;
        GetPos(X, dr, dp);
        return dp;
}

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virtual doublereal Rotor::dGetRadius ( void  ) const

inlinevirtual

Definition at line 158 of file rotor.h.

References dRadius.

Referenced by ReadGenel(), and RotorTrim::RotorTrim().

                                                         {
#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
                Wait();
#endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES
                return dRadius;
        };

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

inlinevirtual

Reimplemented from Elem.

Definition at line 190 of file rotor.h.

References InducedVelocity::pCraft, pGround, and pRotor.

Referenced by RotorTrim::GetConnectedNodes().

                                                                         {
                if (pGround != 0) {
                        connectedNodes.resize(3);
                        connectedNodes[2] = pGround;
                } else {
                        connectedNodes.resize(2);
                }

                connectedNodes[0] = pCraft;
                connectedNodes[1] = pRotor;
        };

virtual const Vec3& Rotor::GetForces ( void  ) const

inlinevirtual

Reimplemented from InducedVelocity.

Definition at line 172 of file rotor.h.

References ResForces::Force(), and InducedVelocity::Res.

                                                         {
#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
                Wait();
#endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES
                return Res.Force();
        };

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virtual const Vec3& Rotor::GetMoments ( void  ) const

inlinevirtual

Reimplemented from InducedVelocity.

Definition at line 179 of file rotor.h.

References ResForces::Moment(), and InducedVelocity::Res.

                                                          {
#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
                Wait();
#endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES
                return Res.Moment();
        };

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void Rotor::GetPos ( const Vec3 &  X, doublereal &  dr, doublereal &  dp  ) const

protectedvirtual

Definition at line 304 of file rotor.cc.

References ASSERT, grad::atan2(), dPsi0, dRadius, ExternResForces::Pole(), InducedVelocity::Res, RRotTranspose, and grad::sqrt().

Referenced by DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), dGetPos(), dGetPsi(), GlauertRotor::GetInducedVelocity(), ManglerRotor::GetInducedVelocity(), DynamicInflowRotor::GetInducedVelocity(), and PetersHeRotor::GetInducedVelocity().

{
        Vec3 XRel(RRotTranspose*(X - Res.Pole()));

        doublereal d1 = XRel(1);
        doublereal d2 = XRel(2);

        doublereal d = sqrt(d1*d1 + d2*d2);

        ASSERT(dRadius > std::numeric_limits<doublereal>::epsilon());
        dr = d/dRadius;

        dp = atan2(d2, d1) - dPsi0;
}

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virtual const Vec3& Rotor::GetXCurr ( void  ) const

inlinevirtual

Reimplemented from InducedVelocity.

Definition at line 146 of file rotor.h.

References StructDispNode::GetXCurr(), and pRotor.

Referenced by DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), RotorTrim::GetData(), and InitParam().

                                                        {
                return pRotor->GetXCurr();
        };

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void Rotor::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  )

protectedvirtual

Definition at line 112 of file rotor.cc.

References dEta, dRadius, dTolerance, WithLabel::GetLabel(), StructNode::GetRCurr(), Mat3x3::GetVec(), iMaxIter, InducedVelocity::pCraft, pGround, InducedVelocity::ppRes, pRotor, RRot, and ToBeOutput::SetOutputFlag().

Referenced by NoRotor::Init(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), and Rotor().

{
        InducedVelocityElem::pCraft = pC;
        InducedVelocityElem::ppRes = ppres;

        pRotor = pR;
        pGround = pG;
        dRadius = dR;
        iMaxIter = iMaxIt;
        dTolerance = dTol;
        dEta = dE;
        RRot = rrot;

        SetOutputFlag(fOut);

        Vec3 R3C(pCraft->GetRCurr()*RRot.GetVec(3));
        Vec3 R3R(pRotor->GetRCurr().GetVec(3));
        if (R3C.Dot(R3R) < 1. - std::numeric_limits<doublereal>::epsilon()) {
                silent_cerr("Rotor(" << GetLabel() << "): "
                        "warning, possible misalignment "
                        "of rotor node StructNode(" << pRotor->GetLabel() << ") "
                        "axis Rr(3) = {" << R3R << "} "
                        "and craft node StructNode(" << pCraft->GetLabel() << ") "
                        "axis Rc*Rh(3) = {" << R3C << "} "
                        << "for Rotor(" << GetLabel() << ")"
                        << std::endl);
        }
}

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void Rotor::InitParam ( bool  bComputeMeanInducedVelocity = true )

protectedvirtual

Definition at line 323 of file rotor.cc.

References ASSERT, grad::atan2(), bUMeanRefConverged, copysign(), dArea, dChi, dCosAlphad, dEta, dForwardFlightCorrection, AirPropOwner::dGetAirDensity(), dHoverCorrection, dLambda, dMu, dOmega, dPsi0, dRadius, dSinAlphad, dTolerance, dUMean, dUMeanPrev, dUMeanRef, dVelocity, dVTipRef, dVTipTreshold, dWeight, AirPropOwner::fGetAirVelocity(), ResForces::Force(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), GetXCurr(), StructDispNode::GetXCurr(), iCurrIter, iMaxIter, MBDYN_EXCEPT_ARGS, grad::Norm(), InducedVelocity::pCraft, pGround, pRotor, ExternResForces::PutPole(), InducedVelocity::Res, RRot, RRot3, RRotTranspose, grad::sqrt(), Mat3x3::Transpose(), VCraft, and Zero3.

Referenced by NoRotor::AssRes(), UniformRotor::AssRes(), GlauertRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), and PetersHeRotor::AssRes().

{
        ASSERT(pCraft != 0);
        ASSERT(pRotor != 0);

        /* Trasposta della matrice di rotazione del rotore */
        RRotTranspose = pCraft->GetRCurr()*RRot;
        RRot3 = RRotTranspose.GetVec(3);
        RRotTranspose = RRotTranspose.Transpose();

        /* Posizione del rotore */
        Res.PutPole(pRotor->GetXCurr());

        /* Velocita' angolare del rotore */
        dOmega = (pRotor->GetWCurr() - pCraft->GetWCurr()).Norm();

        /* Velocita' di traslazione del velivolo */
        VCraft = -pRotor->GetVCurr();
        Vec3 VTmp(Zero3);
        if (fGetAirVelocity(VTmp, pRotor->GetXCurr())) {
                VCraft += VTmp;
        }

        /* Velocita' nel sistema del velivolo (del disco?) decomposta */
        VTmp = RRotTranspose*VCraft;
        doublereal dV1 = VTmp(1);
        doublereal dV2 = VTmp(2);
        doublereal dV3 = VTmp(3);
        doublereal dVV = dV1*dV1 + dV2*dV2;
        doublereal dV = sqrt(dVV);
        
        /* Angolo di azimuth 0 del rotore */
        dPsi0 = atan2(dV2, dV1);

        /* Angolo di influsso */
        dVelocity = sqrt(dV3*dV3 + dVV);
        if (dVelocity > dVTipTreshold*dVTipRef) {
                dSinAlphad = -dV3/dVelocity;
                dCosAlphad = dV/dVelocity;

        } else {
                dSinAlphad = 1.;
                dCosAlphad = 0.;
        }

        if (!bComputeMeanInducedVelocity) {
                return;
        }

        // bail out when density is negligible
        doublereal dRho = dGetAirDensity(GetXCurr());
        if (dRho <= std::numeric_limits<doublereal>::epsilon()) {
                return;
        }

        // Thrust in rotor reference frame
        doublereal dT = RRot3*Res.Force();

        /* Parametri di influsso (usano il valore di dUMean al passo precedente) */
        doublereal dVTip = 0.;
        dMu = 0.;
        dLambda = 0.;
        dVTip = dOmega*dRadius;

        if (dVTip > dVTipTreshold*dVTipRef) {
                dMu = (dVelocity*dCosAlphad)/dVTip;
        }

        /* NOTE: dUMeanRef starts at the value it had previously */
        if (std::abs(dUMeanRef) < std::numeric_limits<doublereal>::epsilon()
                && std::abs(dT) > std::numeric_limits<doublereal>::epsilon())
        {
                // first guess: start with the value in hover
                dUMeanRef = copysign(std::sqrt(std::abs(dT)/(2*dRho*dArea)), dT);
        }

        /* Ground effect */
        doublereal dGE = 1.;
        if (pGround) {
                doublereal p = pGround->GetRCurr().GetVec(3)*(pRotor->GetXCurr() - pGround->GetXCurr());
                doublereal z = p/(dRadius/4.);

                if (z < .25) {
                        if (z <= 0.) {
                                silent_cerr("warning, illegal negative "
                                        "normalized altitude "
                                        "z=" << z << std::endl);
                        }

                        z = .25;
                }

                /*
                 * According to I.C. Cheeseman & N.E. Bennett,
                 * "The Effect of Ground on a Helicopter Rotor
                 * in Forward Flight", NASA TR-3021, 1955:
                 *
                 * U = Uref * ( 1 - ( R / ( 4 * z ) )^2 )
                 *
                 * We need to make R / ( 4 * z ) <= 1, so
                 * we must enforce z >= R / 4.
                 */
                dGE -= 1./(z*z);
        }

        bUMeanRefConverged = false;
        if (dVTip > dVTipTreshold*dVTipRef) {
                doublereal dCt = dT/(dRho*dArea*dVTip*dVTip);
                doublereal dLambda0 = dVelocity*dSinAlphad/dVTip;
                doublereal dLambdaInd = dUMeanRef/dVTip;

                bool bRetrying = false;
retry:;

                for (iCurrIter = 0; iCurrIter < iMaxIter; iCurrIter++) {
                        dLambda = dLambda0 + dLambdaInd;

                        doublereal dRef0 = dMu*dMu + dLambda*dLambda;
                        doublereal dRef1 = 2.*sqrt(dRef0);
                        doublereal dRef2 = dRef1*dRef0;
                        doublereal dF = 0.;
                        if (dRef1 > std::numeric_limits<doublereal>::epsilon()) {
                                dF = dLambdaInd - dCt/dRef1;
                                doublereal dFPrime = 1. + (dCt/dRef2)*dLambda;
                                doublereal dDelta = dF/dFPrime;
                                dLambdaInd -= dEta*dDelta;
                        }

#if 0
                        std::cerr
                                << " iter=" << iCurrIter
                                << " lambda=" << dLambda
                                << " dRef1=" << dRef1
                                << " dF=" << dF
                                << " Uref=" << dUMeanRef
                                << std::endl;
#endif

                        if (std::abs(dF) <= dTolerance) {
                                bUMeanRefConverged = true;
                                break;
                        }
                }

                // NOTE: the induced velocity must have the same sign
                // of the thrust coefficient
                if (dLambdaInd*dCt < 0.) {
                        if (!bRetrying) {
                                bRetrying = true;

                                // first guess: revert the sign of induced velocity
                                dLambdaInd = -dLambdaInd;
                                goto retry;
                        }

                        silent_cerr("Rotor(" << GetLabel() << "): "
                                "induced velocity and thrust signs differ "
                                "(lambda_u=" << dLambdaInd << ", Ct=" << dCt << ")"
                                << std::endl);
                }

                dLambda = dLambda0 + dLambdaInd;

                // this is updated to serve as starting point for next iteration
                dUMeanRef = dLambdaInd*dVTip;

                /* if no convergence, simply accept the current value
                 * very forgiving choice, though */
#if 0
                if (iCurrIter == iMaxIter) {
                        silent_cerr("unable to compute mean induced velocity "
                                "for Rotor(" << GetLabel() << ")" << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
#endif
        }

        //if (dMu == 0. && dLambda == 0.) {
        if (std::abs(dMu) < std::numeric_limits<doublereal>::epsilon() ) {
                dChi = 0.;

        } else {
                dChi = atan2(dMu, dLambda);
        }

        /*
         * From Claudio Monteggia:
         *
         *                        Ct
         * Um = -------------------------------------
         *       sqrt( lambda^2 / KH^4 + mu^2 / KF^2)
         */
        if (dVTip > dVTipTreshold*dVTipRef) {
                doublereal dMuTmp = dMu/dForwardFlightCorrection;
                doublereal dLambdaTmp = dLambda/(dHoverCorrection*dHoverCorrection);
                doublereal dRef = 2*sqrt(dMuTmp*dMuTmp + dLambdaTmp*dLambdaTmp);
                doublereal dCt = dT/(dRho*dArea*dVTip*dVTip);           
                if (dRef > std::abs(dCt)) {
                        // NOTE: an inflow velocity larger than VTip
                        // makes little sense
                        dUMean = (1. - dWeight)*dGE*dVTip*dCt/dRef + dWeight*dUMeanPrev;

                } else {
                        dUMean = dUMeanPrev;
                }

        } else {
                dUMean = dUMeanPrev;
        }
}

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void Rotor::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Reimplemented in PetersHeRotor, and DynamicInflowRotor.

Definition at line 183 of file rotor.cc.

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

{
        if (bToBeOutput()) {
#ifdef USE_MPI
                if (is_parallel && IndVelComm.Get_size() > 1) {
                        if (IndVelComm.Get_rank() == 0) {
                                Vec3 TmpF(pTmpVecR);
                                Vec3 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 */
                                        << 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 */
                                << 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 */
                        << std::endl;

                /* FIXME: check for parallel stuff ... */
                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 & Rotor::Restart ( std::ostream &  out ) const

virtual

Implements Elem.

Reimplemented in PetersHeRotor, DynamicInflowRotor, ManglerRotor, GlauertRotor, UniformRotor, and NoRotor.

Definition at line 535 of file rotor.cc.

References WithLabel::GetLabel(), InducedVelocity::pCraft, and pRotor.

Referenced by NoRotor::Restart(), UniformRotor::Restart(), GlauertRotor::Restart(), ManglerRotor::Restart(), DynamicInflowRotor::Restart(), and PetersHeRotor::Restart().

{
        return out << "  rotor: " << GetLabel() << ", "
                << pCraft->GetLabel() << ", " << pRotor->GetLabel()
                << ", induced velocity: ";
}

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virtual void Rotor::SetInitialValue ( VectorHandler &  )

inlinevirtual

Reimplemented from InducedVelocity.

Reimplemented in PetersHeRotor, and DynamicInflowRotor.

Definition at line 142 of file rotor.h.

References NO_OP.

                                                        {
                NO_OP;
        };

Member Data Documentation

bool Rotor::bUMeanRefConverged

protected

Definition at line 63 of file rotor.h.

Referenced by InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

doublereal Rotor::dArea

protected

Definition at line 53 of file rotor.h.

Referenced by DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), and InitParam().

doublereal Rotor::dChi

protected

Definition at line 84 of file rotor.h.

Referenced by DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), GlauertRotor::GetInducedVelocity(), GlauertRotor::Init(), InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

doublereal Rotor::dCosAlphad

protected

Definition at line 81 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

doublereal Rotor::dEta

protected

Definition at line 62 of file rotor.h.

Referenced by Init(), and InitParam().

doublereal Rotor::dForwardFlightCorrection

protected

Definition at line 72 of file rotor.h.

Referenced by DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), InitParam(), UniformRotor::Restart(), GlauertRotor::Restart(), ManglerRotor::Restart(), DynamicInflowRotor::Restart(), and PetersHeRotor::Restart().

doublereal Rotor::dHoverCorrection

protected

Definition at line 70 of file rotor.h.

Referenced by DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), InitParam(), UniformRotor::Restart(), GlauertRotor::Restart(), ManglerRotor::Restart(), DynamicInflowRotor::Restart(), and PetersHeRotor::Restart().

doublereal Rotor::dLambda

protected

Definition at line 83 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), GlauertRotor::GetInducedVelocity(), GlauertRotor::Init(), InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

doublereal Rotor::dMu

protected

Definition at line 82 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), dGetMu(), GlauertRotor::GetInducedVelocity(), GlauertRotor::Init(), InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

doublereal Rotor::dOmega

protected

Definition at line 87 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), dGetOmega(), DynamicInflowRotor::GetInducedVelocity(), PetersHeRotor::GetInducedVelocity(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), and InitParam().

doublereal Rotor::dOmegaRef

protected

Definition at line 49 of file rotor.h.

Referenced by UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), and PetersHeRotor::Init().

doublereal Rotor::dPsi0

protected

Definition at line 79 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), GetPos(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

doublereal Rotor::dRadius

protected

Definition at line 51 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), dGetRadius(), DynamicInflowRotor::GetInducedVelocity(), PetersHeRotor::GetInducedVelocity(), GetPos(), Init(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), InitParam(), UniformRotor::Restart(), GlauertRotor::Restart(), ManglerRotor::Restart(), DynamicInflowRotor::Restart(), and PetersHeRotor::Restart().

doublereal Rotor::dSinAlphad

protected

Definition at line 80 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), ManglerRotor::GetInducedVelocity(), ManglerRotor::Init(), InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

doublereal Rotor::dTolerance

protected

Definition at line 61 of file rotor.h.

Referenced by Init(), and InitParam().

doublereal Rotor::dUMean

protected

Definition at line 54 of file rotor.h.

Referenced by AfterConvergence(), UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

doublereal Rotor::dUMeanPrev

mutableprotected

Definition at line 56 of file rotor.h.

Referenced by AfterConvergence(), UniformRotor::GetInducedVelocity(), GlauertRotor::GetInducedVelocity(), ManglerRotor::GetInducedVelocity(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), and InitParam().

doublereal Rotor::dUMeanRef

protected

Definition at line 55 of file rotor.h.

Referenced by InitParam().

doublereal Rotor::dVelocity

protected

Definition at line 86 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

doublereal Rotor::dVTipRef

protected

Definition at line 52 of file rotor.h.

Referenced by DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), and InitParam().

doublereal Rotor::dWeight

protected

Definition at line 68 of file rotor.h.

Referenced by AfterConvergence(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), and InitParam().

unsigned int Rotor::iCurrIter

protected

Definition at line 60 of file rotor.h.

Referenced by InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

unsigned int Rotor::iMaxIter

protected

Definition at line 59 of file rotor.h.

Referenced by Init(), and InitParam().

int Rotor::iNumSteps

mutableprotected

Definition at line 92 of file rotor.h.

Referenced by AfterConvergence().

const StructNode* Rotor::pGround

protected

Definition at line 47 of file rotor.h.

Referenced by GetConnectedNodes(), Init(), and InitParam().

const StructNode* Rotor::pRotor

protected

Definition at line 46 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), GetConnectedNodes(), GetXCurr(), Init(), InitParam(), and Restart().

Mat3x3 Rotor::RRot

protected

Definition at line 76 of file rotor.h.

Referenced by Init(), and InitParam().

Vec3 Rotor::RRot3

protected

Definition at line 77 of file rotor.h.

Referenced by DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), UniformRotor::GetInducedVelocity(), GlauertRotor::GetInducedVelocity(), ManglerRotor::GetInducedVelocity(), DynamicInflowRotor::GetInducedVelocity(), PetersHeRotor::GetInducedVelocity(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), and InitParam().

Mat3x3 Rotor::RRotTranspose

protected

Definition at line 75 of file rotor.h.

Referenced by DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), GetPos(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), InitParam(), Output(), DynamicInflowRotor::Output(), and PetersHeRotor::Output().

Vec3 Rotor::VCraft

protected

Definition at line 78 of file rotor.h.

Referenced by UniformRotor::AssRes(), ManglerRotor::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), and InitParam().

DriveOwner Rotor::Weight

protected

Definition at line 65 of file rotor.h.

Referenced by AfterConvergence(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), UniformRotor::Restart(), GlauertRotor::Restart(), and ManglerRotor::Restart().

---

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

• rotor.h
• rotor.cc