research/mbdyn-1.7.3-doxy/rotor_8h_source.html

 /* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/aero/rotor.h,v 1.69 2017/01/12 14:45:58 masarati Exp $ */

 /*

  * MBDyn (C) is a multibody analysis code.

  * http://www.mbdyn.org

  *

  * Copyright (C) 1996-2017

  *

  * Pierangelo Masarati  <masarati@aero.polimi.it>

  * Paolo Mantegazza     <mantegazza@aero.polimi.it>

  *

  * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano

  * via La Masa, 34 - 20156 Milano, Italy

  * http://www.aero.polimi.it

  *

  * Changing this copyright notice is forbidden.

  *

  * This program is free software; you can redistribute it and/or modify

  * it under the terms of the GNU General Public License as published by

  * the Free Software Foundation (version 2 of the License).

  *

  *

  * This program is distributed in the hope that it will be useful,

  * but WITHOUT ANY WARRANTY; without even the implied warranty of

  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

  * GNU General Public License for more details.

  *

  * You should have received a copy of the GNU General Public License

  * along with this program; if not, write to the Free Software

  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

  */


 /* Elementi di rotore */


 #ifndef ROTOR_H

 #define ROTOR_H


 #include "indvel.h"


 extern const char* psRotorNames[];


 /* Rotor - begin */


 class Rotor

 : virtual public Elem, public InducedVelocityElem {

 protected:

         const StructNode* pRotor;

         const StructNode* pGround;


         doublereal dOmegaRef;           // Velocita' di rotazione di riferimento


         doublereal dRadius;             // Raggio del rotore

         doublereal dVTipRef;            // Raggio del rotore

         doublereal dArea;               // Area del disco

         doublereal dUMean;              // Velocita' indotta media

         doublereal dUMeanRef;           // Velocita' indotta media (nominale)

         mutable doublereal dUMeanPrev;  // Vel. indotta media al passo prec.


         // iterations for dUMeanRef

         unsigned int iMaxIter;

         unsigned int iCurrIter;

         doublereal dTolerance;

         doublereal dEta;

         bool bUMeanRefConverged;


         DriveOwner Weight;

         // Peso della velocita' indotta media

         // (peso della V al passo precedente, def = 0.)

         doublereal dWeight;

         // Correzione H (scala la velocita' indotta)

         doublereal dHoverCorrection;

         // FF

         doublereal dForwardFlightCorrection;


         // Trasposta della matrice di rotazione rotore

         Mat3x3 RRotTranspose;

         Mat3x3 RRot;

         Vec3 RRot3;             // Direzione dell'asse del rotore

         Vec3 VCraft;            // Velocita' di traslazione del velivolo

         doublereal dPsi0;       // Angolo di azimuth del rotore

         doublereal dSinAlphad;  // Angolo di incidenza del disco?

         doublereal dCosAlphad;  // ???

         doublereal dMu;         // Parametro di'avanzamento

         doublereal dLambda;     // Parametro di influsso

         doublereal dChi;        // ???


         doublereal dVelocity;   // Velocita' di riferimento

         doublereal dOmega;      // Velocita' di rotazione di riferimento


         // temporaneo

         mutable int iNumSteps;


         // Questa funzione non viene usata, da Rotor, ma da altre classi derivate

         // con modellazioni piu' sofisticate della velocita' indotta

         virtual doublereal dGetPsi(const Vec3& X) const;


         // Calcola la distanza di un punto dall'asse di rotazione

         // in coordinate adimensionali

         virtual doublereal dGetPos(const Vec3& X) const;


         // Combina i due ...

         virtual void GetPos(const Vec3& X, doublereal& dr, doublereal& dp) const;


         // Calcola la velocita' di traslazione del rotore

         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);


 public:

         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);


         // Elaborazione stato interno dopo la convergenza

         virtual void

         AfterConvergence(const VectorHandler& X, const VectorHandler& XP);


         // output; si assume che ogni tipo di elemento sappia,

         // attraverso l'OutputHandler, dove scrivere il proprio output

         virtual void Output(OutputHandler& OH) const;


         // Contributo al file di Restart

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


         // Relativo ai ...WithDofs

         virtual void SetInitialValue(VectorHandler& /* X */ ) {

                 NO_OP;

         };


         virtual inline const Vec3& GetXCurr(void) const {

                 return pRotor->GetXCurr();

         };


         // accesso a dati

         virtual inline doublereal dGetOmega(void) const {

 #if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)

                 Wait();

 #endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES

                 return dOmega;

         };


         virtual inline doublereal dGetRadius(void) const {

 #if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)

                 Wait();

 #endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES

                 return dRadius;

         };


         virtual inline doublereal dGetMu(void) const {

 #if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)

                 Wait();

 #endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES

                 return dMu;

         };


         virtual inline const Vec3& GetForces(void) const {

 #if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)

                 Wait();

 #endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES

                 return Res.Force();

         };


         virtual inline const Vec3& GetMoments(void) const {

 #if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)

                 Wait();

 #endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES

                 return Res.Moment();

         };


         // *******PER IL SOLUTORE PARALLELO********

         // Fornisce il tipo e la label dei nodi che sono connessi all'elemento

         // utile per l'assemblaggio della matrice di connessione fra i dofs

         virtual void

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

                 if (pGround != 0) {

                         connectedNodes.resize(3);

                         connectedNodes[2] = pGround;

                 } else {

                         connectedNodes.resize(2);

                 }


                 connectedNodes[0] = pCraft;

                 connectedNodes[1] = pRotor;

         };

         // ************************************************

 };


 /* Rotor - end */


 /* NoRotor - begin */


 class NoRotor : virtual public Elem, public Rotor {

 protected:

         virtual void Init(const StructNode* pCraft,

                 const Mat3x3& rrot,

                 const StructNode* pRotor,

                 ResForceSet **ppres,

                 const doublereal& dR,

                 flag fOut);


 public:

         NoRotor(unsigned int uLabel, const DofOwner* pDO);

         NoRotor(unsigned int uLabel,

                 const DofOwner* pDO,

                 const StructNode* pCraft,

                 const Mat3x3& rrot,

                 const StructNode* pRotor,

                 ResForceSet **ppres,

                 const doublereal& dR,

                 flag fOut);

         virtual ~NoRotor(void);


         // assemblaggio residuo

         virtual SubVectorHandler&

         AssRes(SubVectorHandler& WorkVec,

                 doublereal dCoef,

                 const VectorHandler& XCurr,

                 const VectorHandler& XPrimeCurr);


         // Contributo al file di Restart

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


         virtual InducedVelocity::Type GetInducedVelocityType(void) const {

                 return InducedVelocity::NO;

         };


         // Somma alla trazione il contributo di un elemento

         virtual void

         AddForce(const Elem *pEl, const StructNode *pNode, const Vec3& F, const Vec3& M, const Vec3& X);


         // Restituisce ad un elemento la velocita' indotta

         // in base alla posizione azimuthale

         virtual Vec3 GetInducedVelocity(Elem::Type type,

                 unsigned uLabel, unsigned uPnt, const Vec3& X) const;

 };


 /* NoRotor - end */


 /* UniformRotor - begin */


 class UniformRotor : virtual public Elem, public Rotor {

 protected:

         virtual void Init(const StructNode* pCraft,

                 const Mat3x3& rrot,

                 const StructNode* pRotor,

                 const StructNode* pGround,

                 ResForceSet **ppres,

                 const doublereal& dOR,

                 const doublereal& dR,

                 DriveCaller *pdW,

                 unsigned int iMaxIt,

                 const doublereal& dTol,

                 const doublereal& dE,

                 const doublereal& dCH,

                 const doublereal& dCFF,

                 flag fOut);


 public:

         UniformRotor(unsigned int uLabel, const DofOwner* pDO);

         UniformRotor(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,

                 DriveCaller *pdW,

                 unsigned int iMaxIt,

                 const doublereal& dTol,

                 const doublereal& dE,

                 const doublereal& dCH,

                 const doublereal& dCFF,

                 flag fOut);

         virtual ~UniformRotor(void);


         // assemblaggio residuo

         virtual SubVectorHandler&

         AssRes(SubVectorHandler& WorkVec,

                 doublereal dCoef,

                 const VectorHandler& XCurr,

                 const VectorHandler& XPrimeCurr);


         // Contributo al file di Restart

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


         InducedVelocity::Type GetInducedVelocityType(void) const {

                 return InducedVelocity::UNIFORM;

         };


         // Somma alla trazione il contributo di un elemento

         virtual void

         AddForce(const Elem *pEl, const StructNode *pNode, const Vec3& F, const Vec3& M, const Vec3& X);


         // Restituisce ad un elemento la velocita' indotta

         // in base alla posizione azimuthale

         virtual Vec3 GetInducedVelocity(Elem::Type type,

                 unsigned uLabel, unsigned uPnt, const Vec3& X) const;

 };


 class UniformRotor2 : virtual public Elem, public UniformRotor {

 protected:

 #if 0 // not needed because identical to UniformRotor::Init()

         virtual void Init(const StructNode* pCraft,

                 const Mat3x3& rrot,

                 const StructNode* pRotor,

                 const StructNode* pGround,

                 ResForceSet **ppres,

                 const doublereal& dOR,

                 const doublereal& dR,

                 DriveCaller *pdW,

                 unsigned int iMaxIt,

                 const doublereal& dTol,

                 const doublereal& dE,

                 const doublereal& dCH,

                 const doublereal& dCFF,

                 flag fOut);

 #endif


 public:

         UniformRotor2(unsigned int uLabel, const DofOwner* pDO);

         UniformRotor2(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,

                 DriveCaller *pdW,

                 unsigned int iMaxIt,

                 const doublereal& dTol,

                 const doublereal& dE,

                 const doublereal& dCH,

                 const doublereal& dCFF,

                 flag fOut);

         virtual ~UniformRotor2(void);


         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);

 };


 /* UniformRotor - end */


 /* GlauertRotor - begin */


 class GlauertRotor : virtual public Elem, public Rotor {

 public:

         enum Type {

                 UNKNOWN = -1,


                 // from (?)

                 GLAUERT,


                 // from J. Gordon Leishman, Principles of Helicopter Aerodynamics, 2000

                 COLEMAN_ET_AL,

                 DREES_1,

                 PAYNE,

                 WHITE_AND_BLAKE,

                 PITT_AND_PETERS,

                 HOWLETT,


                 // from Massimo Gennaretti, Roma Tre

                 DREES_2,


                 LAST

         };


 protected:

         Type gtype;


         virtual void Init(const StructNode* pCraft,

                 const Mat3x3& rrot,

                 const StructNode* pRotor,

                 const StructNode* pGround,

                 ResForceSet **ppres,

                 const doublereal& dOR,

                 const doublereal& dR,

                 DriveCaller *pdW,

                 unsigned int iMaxIt,

                 const doublereal& dTol,

                 const doublereal& dE,

                 const doublereal& dCH,

                 const doublereal& dCFF,

                 flag fOut);


 public:

         GlauertRotor(unsigned int uLabel, const DofOwner* pDO);

         GlauertRotor(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,

                 DriveCaller *pdW,

                 unsigned int iMaxIt,

                 const doublereal& dTol,

                 const doublereal& dE,

                 const doublereal& dCH,

                 const doublereal& dCFF,

                 GlauertRotor::Type gtype,

                 flag fOut);

         virtual ~GlauertRotor(void);


         // assemblaggio residuo

         virtual SubVectorHandler&

         AssRes(SubVectorHandler& WorkVec,

                 doublereal dCoef,

                 const VectorHandler& XCurr,

                 const VectorHandler& XPrimeCurr);


         // Contributo al file di Restart

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


         InducedVelocity::Type GetInducedVelocityType(void) const {

                 return InducedVelocity::GLAUERT;

         };


         // Somma alla trazione il contributo di un elemento

         virtual void

         AddForce(const Elem *pEl, const StructNode *pNode, const Vec3& F, const Vec3& M, const Vec3& X);


         // Restituisce ad un elemento la velocita' indotta

         // in base alla posizione azimuthale

         virtual Vec3 GetInducedVelocity(Elem::Type type,

                 unsigned uLabel, unsigned uPnt, const Vec3& X) const;

 };


 /* GlauertRotor - end */


 /* ManglerRotor - begin */


 class ManglerRotor : virtual public Elem, public Rotor {

 protected:

         virtual void Init(const StructNode* pCraft,

                 const Mat3x3& rrot,

                 const StructNode* pRotor,

                 const StructNode* pGround,

                 ResForceSet **ppres,

                 const doublereal& dOR,

                 const doublereal& dR,

                 DriveCaller *pdW,

                 unsigned int iMaxIt,

                 const doublereal& dTol,

                 const doublereal& dE,

                 const doublereal& dCH,

                 const doublereal& dCFF,

                 flag fOut);


 public:

         ManglerRotor(unsigned int uLabel, const DofOwner* pDO);

         ManglerRotor(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,

                 DriveCaller *pdW,

                 unsigned int iMaxIt,

                 const doublereal& dTol,

                 const doublereal& dE,

                 const doublereal& dCH,

                 const doublereal& dCFF,

                 flag fOut);

         virtual ~ManglerRotor(void);


         // assemblaggio residuo

         virtual SubVectorHandler&

         AssRes(SubVectorHandler& WorkVec,

                 doublereal dCoef,

                 const VectorHandler& XCurr,

                 const VectorHandler& XPrimeCurr);


         // Contributo al file di Restart

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


         InducedVelocity::Type GetInducedVelocityType(void) const {

                 return InducedVelocity::MANGLER;

         };


         // Somma alla trazione il contributo di un elemento

         virtual void

         AddForce(const Elem *pEl, const StructNode *pNode, const Vec3& F, const Vec3& M, const Vec3& X);


         // Restituisce ad un elemento la velocita' indotta

         // in base alla posizione azimuthale

         virtual Vec3 GetInducedVelocity(Elem::Type type,

                 unsigned uLabel, unsigned uPnt, const Vec3& X) const;

 };


 /* ManglerRotor - end */


 /* DynamicInflowRotor - begin */


 /*

  * Based on the 3 state dynamic inflow by Pitt-Peters:

  *

  * D. M. Pitt,  D. A. Peters,

  * "Theoretical Prediction of Dynamic Inflow Derivatives",

  * Vertica, Vol. 5, pp.21-34, 1981

  *

  * as discussed by Chen in:

  *

  * R. T. N. Chen,

  * "A Survey of Nonuniform Inflow Models for Rotorcraft

  * Flight Dynamics and Control Applications"

  * Vertica, Vol 14, No. 2, pp.147-184, 1990

  */


 class DynamicInflowRotor : virtual public Elem, public Rotor {

 protected:

         doublereal dVConst;

         doublereal dVSine;

         doublereal dVCosine;


         doublereal dL11;

         doublereal dL13;

         doublereal dL22;

         doublereal dL31;

         doublereal dL33;


         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);


 public:

         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);


         // ritorna il numero di Dofs per gli elementi che sono anche DofOwner

         virtual unsigned int iGetNumDof(void) const {

                 return 3;

         };


         // output; si assume che ogni tipo di elemento sappia,

         // attraverso l'OutputHandler, dove scrivere il proprio output

         virtual void Output(OutputHandler& OH) const;


         // Dimensioni del workspace

         virtual void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const {

                 *piNumRows = 3;

                 *piNumCols = 3;

         };


         // assemblaggio jacobiano

         virtual VariableSubMatrixHandler&

         AssJac(VariableSubMatrixHandler& WorkMat,

                 doublereal dCoef,

                 const VectorHandler& XCurr,

                 const VectorHandler& XPrimeCurr);


         // assemblaggio residuo

         virtual SubVectorHandler&

         AssRes(SubVectorHandler& WorkVec,

                 doublereal dCoef,

                 const VectorHandler& XCurr,

                 const VectorHandler& XPrimeCurr);


         // Contributo al file di Restart

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


         // Relativo ai ...WithDofs

         virtual void SetInitialValue(VectorHandler& X);


         // Relativo ai ...WithDofs

         virtual void

         SetValue(DataManager *pDM,

                 VectorHandler& X, VectorHandler& XP,

                 SimulationEntity::Hints *ph = 0);


         InducedVelocity::Type GetInducedVelocityType(void) const {

                 return InducedVelocity::DYNAMICINFLOW;

         };


         // Somma alla trazione il contributo di un elemento */

         virtual void

         AddForce(const Elem *pEl, const StructNode *pNode, const Vec3& F, const Vec3& M, const Vec3& X);


         // Restituisce ad un elemento la velocita' indotta

         // in base alla posizione azimuthale

         virtual Vec3 GetInducedVelocity(Elem::Type type,

                 unsigned uLabel, unsigned uPnt, const Vec3& X) const;

 };


 /* DynamicInflowRotor - end */


 /* PetersHeRotor - begin */


 /*

  * Based on the 3 state dynamic inflow by Pitt-Peters:

  *

  * D. M. Pitt,  D. A. Peters,

  * "Theoretical Prediction of Dynamic Inflow Derivatives",

  * Vertica, Vol. 5, pp.21-34, 1981

  *

  * as discussed by Chen in:

  *

  * R. T. N. Chen,

  * "A Survey of Nonuniform Inflow Models for Rotorcraft

  * Flight Dynamics and Control Applications"

  * Vertica, Vol 14, No. 2, pp.147-184, 1990

  */


 class PetersHeRotor : virtual public Elem, public Rotor {

 protected:

         doublereal dVConst;

         doublereal dVSine;

         doublereal dVCosine;


         doublereal dL11;

         doublereal dL13;

         doublereal dL22;

         doublereal dL31;

         doublereal dL33;


         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);


 public:

         PetersHeRotor(unsigned int uLabel, const DofOwner* pDO);

         PetersHeRotor(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 ~PetersHeRotor(void);


         // ritorna il numero di Dofs per gli elementi che sono anche DofOwner

         virtual unsigned int iGetNumDof(void) const {

                 return 3;

         };


         // output; si assume che ogni tipo di elemento sappia,

         // attraverso l'OutputHandler, dove scrivere il proprio output

         virtual void Output(OutputHandler& OH) const;


         // Dimensioni del workspace

         virtual void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const {

                 *piNumRows = 3;

                 *piNumCols = 3;

         };


         // assemblaggio jacobiano

         virtual VariableSubMatrixHandler&

         AssJac(VariableSubMatrixHandler& WorkMat,

                 doublereal dCoef,

                 const VectorHandler& XCurr,

                 const VectorHandler& XPrimeCurr);


         // assemblaggio residuo

         virtual SubVectorHandler&

         AssRes(SubVectorHandler& WorkVec,

                 doublereal dCoef,

                 const VectorHandler& XCurr,

                 const VectorHandler& XPrimeCurr);


         // Contributo al file di Restart

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


         // Relativo ai ...WithDofs

         virtual void SetInitialValue(VectorHandler& X);


         // Relativo ai ...WithDofs

         virtual void

         SetValue(DataManager *pDM,

                 VectorHandler& X, VectorHandler& XP,

                 SimulationEntity::Hints *ph = 0);


         InducedVelocity::Type GetInducedVelocityType(void) const {

                 return InducedVelocity::DYNAMICINFLOW;

         };


         // Somma alla trazione il contributo di un elemento */

         virtual void

         AddForce(const Elem *pEl, const StructNode *pNode, const Vec3& F, const Vec3& M, const Vec3& X);


         // Restituisce ad un elemento la velocita' indotta

         // in base alla posizione azimuthale

         virtual Vec3 GetInducedVelocity(Elem::Type type,

                 unsigned uLabel, unsigned uPnt, const Vec3& X) const;

 };


 /* PetersHeRotor - end */


 class DataManager;

 class MBDynParser;


 extern Elem*

 ReadRotor(DataManager* pDM,

         MBDynParser& HP,

         const DofOwner* pDO,

         unsigned int uLabel);


 #endif /* ROTOR_H */


GlauertRotor::gtype
Type gtype
Definition: rotor.h:395

InducedVelocity::Res
ExternResForces Res
Definition: indvel.h:114

PetersHeRotor::SetInitialValue
virtual void SetInitialValue(VectorHandler &X)
Definition: rotor.cc:2485

DynamicInflowRotor::AssJac
virtual VariableSubMatrixHandler & AssJac(VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
Definition: rotor.cc:1755

ManglerRotor::GetInducedVelocity
virtual Vec3 GetInducedVelocity(Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const
Definition: rotor.cc:1460

Rotor::dHoverCorrection
doublereal dHoverCorrection
Definition: rotor.h:70

Rotor::Restart
virtual std::ostream & Restart(std::ostream &out) const
Definition: rotor.cc:535

InducedVelocity::Type
Type
Definition: indvel.h:51

GlauertRotor::PAYNE
Definition: rotor.h:383

GlauertRotor::GLAUERT
Definition: rotor.h:378

Mat3x3
Definition: matvec3.h:550

Rotor::dArea
doublereal dArea
Definition: rotor.h:53

Rotor::dForwardFlightCorrection
doublereal dForwardFlightCorrection
Definition: rotor.h:72

Rotor::dVelocity
doublereal dVelocity
Definition: rotor.h:86

PetersHeRotor::Restart
virtual std::ostream & Restart(std::ostream &out) const
Definition: rotor.cc:2511

flag
long int flag
Definition: mbdyn.h:43

UniformRotor::GetInducedVelocityType
InducedVelocity::Type GetInducedVelocityType(void) const
Definition: rotor.h:306

UniformRotor2::~UniformRotor2
virtual ~UniformRotor2(void)
Definition: rotor.cc:923

PetersHeRotor::dL33
doublereal dL33
Definition: rotor.h:678

UniformRotor::~UniformRotor
virtual ~UniformRotor(void)
Definition: rotor.cc:774

Rotor::dGetPsi
virtual doublereal dGetPsi(const Vec3 &X) const
Definition: rotor.cc:286

Rotor::dCosAlphad
doublereal dCosAlphad
Definition: rotor.h:81

UniformRotor::UniformRotor
UniformRotor(unsigned int uLabel, const DofOwner *pDO)
Definition: rotor.cc:694

Vec3
Definition: matvec3.h:98

GlauertRotor::Restart
virtual std::ostream & Restart(std::ostream &out) const
Definition: rotor.cc:1112

SubVectorHandler
Definition: submat.h:1406

Rotor::iNumSteps
int iNumSteps
Definition: rotor.h:92

InducedVelocity::UNIFORM
Definition: indvel.h:62

GlauertRotor::GetInducedVelocityType
InducedVelocity::Type GetInducedVelocityType(void) const
Definition: rotor.h:443

Rotor::RRot3
Vec3 RRot3
Definition: rotor.h:77

UniformRotor2::AddSectionalForce
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)
Definition: rotor.cc:936

NoRotor::NoRotor
NoRotor(unsigned int uLabel, const DofOwner *pDO)
Definition: rotor.cc:547

ManglerRotor::GetInducedVelocityType
InducedVelocity::Type GetInducedVelocityType(void) const
Definition: rotor.h:509

UniformRotor::AddForce
virtual void AddForce(const Elem *pEl, const StructNode *pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)
Definition: rotor.cc:852

ResForces::Force
virtual const Vec3 & Force(void) const
Definition: resforces.cc:103

PetersHeRotor::dVSine
doublereal dVSine
Definition: rotor.h:671

psRotorNames
const char * psRotorNames[]
Definition: enums.cc:330

PetersHeRotor::dL31
doublereal dL31
Definition: rotor.h:677

InducedVelocity::GLAUERT
Definition: indvel.h:63

UniformRotor::Restart
virtual std::ostream & Restart(std::ostream &out) const
Definition: rotor.cc:842

ManglerRotor::Restart
virtual std::ostream & Restart(std::ostream &out) const
Definition: rotor.cc:1417

GlauertRotor::WHITE_AND_BLAKE
Definition: rotor.h:384

DriveCaller
Definition: drive.h:442

Rotor::iMaxIter
unsigned int iMaxIter
Definition: rotor.h:59

UniformRotor2
Definition: rotor.h:320

Rotor::AfterConvergence
virtual void AfterConvergence(const VectorHandler &X, const VectorHandler &XP)
Definition: rotor.cc:152

DynamicInflowRotor::dVCosine
doublereal dVCosine
Definition: rotor.h:547

ManglerRotor
Definition: rotor.h:462

GlauertRotor::GlauertRotor
GlauertRotor(unsigned int uLabel, const DofOwner *pDO)
Definition: rotor.cc:976

DynamicInflowRotor::dL22
doublereal dL22
Definition: rotor.h:551

Rotor::RRot
Mat3x3 RRot
Definition: rotor.h:76

GlauertRotor::DREES_1
Definition: rotor.h:382

DynamicInflowRotor::AssRes
virtual SubVectorHandler & AssRes(SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
Definition: rotor.cc:1785

GlauertRotor::AddForce
virtual void AddForce(const Elem *pEl, const StructNode *pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)
Definition: rotor.cc:1123

NoRotor::Restart
virtual std::ostream & Restart(std::ostream &out) const
Definition: rotor.cc:645

InducedVelocityElem
Definition: indvel.h:259

PetersHeRotor::dVConst
doublereal dVConst
Definition: rotor.h:670

Rotor::Init
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)
Definition: rotor.cc:112

PetersHeRotor::dL22
doublereal dL22
Definition: rotor.h:676

NO_OP
#define NO_OP
Definition: myassert.h:74

GlauertRotor::LAST
Definition: rotor.h:391

ManglerRotor::ManglerRotor
ManglerRotor(unsigned int uLabel, const DofOwner *pDO)
Definition: rotor.cc:1261

DynamicInflowRotor
Definition: rotor.h:543

Rotor::dSinAlphad
doublereal dSinAlphad
Definition: rotor.h:80

SimulationEntity::Hints
std::vector< Hint * > Hints
Definition: simentity.h:89

ResForces::Moment
virtual const Vec3 & Moment(void) const
Definition: resforces.cc:109

PetersHeRotor::Init
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)
Definition: rotor.cc:2093

Rotor::Weight
DriveOwner Weight
Definition: rotor.h:65

Rotor::~Rotor
virtual ~Rotor(void)
Definition: rotor.cc:146

PetersHeRotor::AssJac
virtual VariableSubMatrixHandler & AssJac(VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
Definition: rotor.cc:2273

DynamicInflowRotor::dVConst
doublereal dVConst
Definition: rotor.h:545

DataManager
Definition: dataman.h:85

UniformRotor::AssRes
virtual SubVectorHandler & AssRes(SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
Definition: rotor.cc:785

DynamicInflowRotor::WorkSpaceDim
virtual void WorkSpaceDim(integer *piNumRows, integer *piNumCols) const
Definition: rotor.h:604

DynamicInflowRotor::GetInducedVelocity
virtual Vec3 GetInducedVelocity(Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const
Definition: rotor.cc:2037

NoRotor::~NoRotor
virtual ~NoRotor(void)
Definition: rotor.cc:596

Rotor::GetForces
virtual const Vec3 & GetForces(void) const
Definition: rotor.h:172

UniformRotor
Definition: rotor.h:259

DynamicInflowRotor::SetInitialValue
virtual void SetInitialValue(VectorHandler &X)
Definition: rotor.cc:1967

ManglerRotor::Init
virtual void Init(const StructNode *pCraft, const Mat3x3 &rrot, const StructNode *pRotor, const StructNode *pGround, ResForceSet **ppres, const doublereal &dOR, const doublereal &dR, DriveCaller *pdW, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, const doublereal &dCH, const doublereal &dCFF, flag fOut)
Definition: rotor.cc:1291

DynamicInflowRotor::DynamicInflowRotor
DynamicInflowRotor(unsigned int uLabel, const DofOwner *pDO)
Definition: rotor.cc:1537

Rotor::dGetMu
virtual doublereal dGetMu(void) const
Definition: rotor.h:165

ResForceSet
Definition: resforces.h:105

NoRotor
Definition: rotor.h:209

DriveOwner
Definition: drive.h:130

PetersHeRotor::iGetNumDof
virtual unsigned int iGetNumDof(void) const
Definition: rotor.h:720

GlauertRotor::~GlauertRotor
virtual ~GlauertRotor(void)
Definition: rotor.cc:1067

MBDynParser
Definition: mbpar.h:129

DofOwner
Definition: dofown.h:68

OutputHandler
Definition: output.h:65

NoRotor::AddForce
virtual void AddForce(const Elem *pEl, const StructNode *pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)
Definition: rotor.cc:652

UniformRotor2::bSectionalForces
virtual bool bSectionalForces(void) const
Definition: rotor.cc:929

Rotor::dUMeanPrev
doublereal dUMeanPrev
Definition: rotor.h:56

Rotor::GetConnectedNodes
virtual void GetConnectedNodes(std::vector< const Node * > &connectedNodes) const
Definition: rotor.h:190

PetersHeRotor::~PetersHeRotor
virtual ~PetersHeRotor(void)
Definition: rotor.cc:2158

GlauertRotor::PITT_AND_PETERS
Definition: rotor.h:385

Rotor::bUMeanRefConverged
bool bUMeanRefConverged
Definition: rotor.h:63

PetersHeRotor::PetersHeRotor
PetersHeRotor(unsigned int uLabel, const DofOwner *pDO)
Definition: rotor.cc:2055

PetersHeRotor::GetInducedVelocityType
InducedVelocity::Type GetInducedVelocityType(void) const
Definition: rotor.h:760

Rotor::dGetRadius
virtual doublereal dGetRadius(void) const
Definition: rotor.h:158

Rotor::GetXCurr
virtual const Vec3 & GetXCurr(void) const
Definition: rotor.h:146

InducedVelocity::MANGLER
Definition: indvel.h:64

Rotor::SetInitialValue
virtual void SetInitialValue(VectorHandler &)
Definition: rotor.h:142

Rotor::Rotor
Rotor(unsigned int uL, const DofOwner *pDO)
Definition: rotor.cc:59

Rotor::dOmega
doublereal dOmega
Definition: rotor.h:87

PetersHeRotor::AssRes
virtual SubVectorHandler & AssRes(SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
Definition: rotor.cc:2303

indvel.h

PetersHeRotor::dL11
doublereal dL11
Definition: rotor.h:674

GlauertRotor::GetInducedVelocity
virtual Vec3 GetInducedVelocity(Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const
Definition: rotor.cc:1158

MBDynParser::pDM
DataManager * pDM
Definition: mbpar.h:252

DynamicInflowRotor::GetInducedVelocityType
InducedVelocity::Type GetInducedVelocityType(void) const
Definition: rotor.h:635

NoRotor::GetInducedVelocityType
virtual InducedVelocity::Type GetInducedVelocityType(void) const
Definition: rotor.h:240

DynamicInflowRotor::Output
virtual void Output(OutputHandler &OH) const
Definition: rotor.cc:1651

DynamicInflowRotor::Restart
virtual std::ostream & Restart(std::ostream &out) const
Definition: rotor.cc:1993

PetersHeRotor::GetInducedVelocity
virtual Vec3 GetInducedVelocity(Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const
Definition: rotor.cc:2555

Rotor::dPsi0
doublereal dPsi0
Definition: rotor.h:79

UniformRotor::Init
virtual void Init(const StructNode *pCraft, const Mat3x3 &rrot, const StructNode *pRotor, const StructNode *pGround, ResForceSet **ppres, const doublereal &dOR, const doublereal &dR, DriveCaller *pdW, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, const doublereal &dCH, const doublereal &dCFF, flag fOut)
Definition: rotor.cc:725

Rotor::VCraft
Vec3 VCraft
Definition: rotor.h:78

Rotor::dUMeanRef
doublereal dUMeanRef
Definition: rotor.h:55

ReadRotor
Elem * ReadRotor(DataManager *pDM, MBDynParser &HP, const DofOwner *pDO, unsigned int uLabel)
Definition: rotor.cc:2573

NoRotor::GetInducedVelocity
virtual Vec3 GetInducedVelocity(Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const
Definition: rotor.cc:683

GlauertRotor::HOWLETT
Definition: rotor.h:386

VectorHandler
Definition: vh.h:63

Rotor::dMu
doublereal dMu
Definition: rotor.h:82

WithLabel::uLabel
unsigned int uLabel
Definition: withlab.h:44

Rotor::GetPos
virtual void GetPos(const Vec3 &X, doublereal &dr, doublereal &dp) const
Definition: rotor.cc:304

GlauertRotor::Type
Type
Definition: rotor.h:374

GlauertRotor::UNKNOWN
Definition: rotor.h:375

DynamicInflowRotor::AddForce
virtual void AddForce(const Elem *pEl, const StructNode *pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)
Definition: rotor.cc:2003

InducedVelocity::DYNAMICINFLOW
Definition: indvel.h:65

GlauertRotor::COLEMAN_ET_AL
Definition: rotor.h:381

Rotor::dGetOmega
virtual doublereal dGetOmega(void) const
Definition: rotor.h:151

GlauertRotor::Init
virtual void Init(const StructNode *pCraft, const Mat3x3 &rrot, const StructNode *pRotor, const StructNode *pGround, ResForceSet **ppres, const doublereal &dOR, const doublereal &dR, DriveCaller *pdW, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, const doublereal &dCH, const doublereal &dCFF, flag fOut)
Definition: rotor.cc:1010

StructDispNode::GetXCurr
virtual const Vec3 & GetXCurr(void) const
Definition: strnode.h:310

PetersHeRotor
Definition: rotor.h:668

PetersHeRotor::dVCosine
doublereal dVCosine
Definition: rotor.h:672

PetersHeRotor::Output
virtual void Output(OutputHandler &OH) const
Definition: rotor.cc:2169

DynamicInflowRotor::dL11
doublereal dL11
Definition: rotor.h:549

DynamicInflowRotor::dVSine
doublereal dVSine
Definition: rotor.h:546

Rotor::dVTipRef
doublereal dVTipRef
Definition: rotor.h:52

Rotor::RRotTranspose
Mat3x3 RRotTranspose
Definition: rotor.h:75

Rotor::dGetPos
virtual doublereal dGetPos(const Vec3 &X) const
Definition: rotor.cc:296

Rotor::dEta
doublereal dEta
Definition: rotor.h:62

Elem
Definition: elem.h:75

InducedVelocity::NO
Definition: indvel.h:61

DynamicInflowRotor::dL13
doublereal dL13
Definition: rotor.h:550

GlauertRotor
Definition: rotor.h:372

Elem::Type
Type
Definition: elem.h:91

Rotor::dOmegaRef
doublereal dOmegaRef
Definition: rotor.h:49

DynamicInflowRotor::~DynamicInflowRotor
virtual ~DynamicInflowRotor(void)
Definition: rotor.cc:1640

VariableSubMatrixHandler
Definition: submat.h:1113

Rotor::InitParam
virtual void InitParam(bool bComputeMeanInducedVelocity=true)
Definition: rotor.cc:323

GlauertRotor::DREES_2
Definition: rotor.h:389

Rotor::iCurrIter
unsigned int iCurrIter
Definition: rotor.h:60

Rotor::dWeight
doublereal dWeight
Definition: rotor.h:68

Rotor::dLambda
doublereal dLambda
Definition: rotor.h:83

PetersHeRotor::AddForce
virtual void AddForce(const Elem *pEl, const StructNode *pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)
Definition: rotor.cc:2521

PetersHeRotor::WorkSpaceDim
virtual void WorkSpaceDim(integer *piNumRows, integer *piNumCols) const
Definition: rotor.h:729

NoRotor::Init
virtual void Init(const StructNode *pCraft, const Mat3x3 &rrot, const StructNode *pRotor, ResForceSet **ppres, const doublereal &dR, flag fOut)
Definition: rotor.cc:570

UniformRotor2::UniformRotor2
UniformRotor2(unsigned int uLabel, const DofOwner *pDO)
Definition: rotor.cc:894

Rotor::dRadius
doublereal dRadius
Definition: rotor.h:51

ManglerRotor::AssRes
virtual SubVectorHandler & AssRes(SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
Definition: rotor.cc:1358

Rotor::pRotor
const StructNode * pRotor
Definition: rotor.h:46

DynamicInflowRotor::SetValue
virtual void SetValue(DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0)
Definition: rotor.cc:1975

PetersHeRotor::dL13
doublereal dL13
Definition: rotor.h:675

DynamicInflowRotor::dL33
doublereal dL33
Definition: rotor.h:553

GlauertRotor::AssRes
virtual SubVectorHandler & AssRes(SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
Definition: rotor.cc:1079

DynamicInflowRotor::dL31
doublereal dL31
Definition: rotor.h:552

doublereal
double doublereal
Definition: colamd.c:52

Rotor::Output
virtual void Output(OutputHandler &OH) const
Definition: rotor.cc:183

integer
long int integer
Definition: colamd.c:51

Rotor::pGround
const StructNode * pGround
Definition: rotor.h:47

PetersHeRotor::SetValue
virtual void SetValue(DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0)
Definition: rotor.cc:2493

ManglerRotor::AddForce
virtual void AddForce(const Elem *pEl, const StructNode *pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)
Definition: rotor.cc:1427

UniformRotor::GetInducedVelocity
virtual Vec3 GetInducedVelocity(Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const
Definition: rotor.cc:884

Rotor::GetMoments
virtual const Vec3 & GetMoments(void) const
Definition: rotor.h:179

Rotor::dUMean
doublereal dUMean
Definition: rotor.h:54

Rotor::dTolerance
doublereal dTolerance
Definition: rotor.h:61

Rotor::dChi
doublereal dChi
Definition: rotor.h:84

DynamicInflowRotor::Init
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)
Definition: rotor.cc:1575

R
Mat3x3 R
Definition: mbdyn_util_oct.cc:74

DynamicInflowRotor::iGetNumDof
virtual unsigned int iGetNumDof(void) const
Definition: rotor.h:595

StructNode
Definition: strnode.h:705

InducedVelocity::pCraft
const StructNode * pCraft
Definition: indvel.h:111

Rotor
Definition: rotor.h:43

NoRotor::AssRes
virtual SubVectorHandler & AssRes(SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
Definition: rotor.cc:607

ManglerRotor::~ManglerRotor
virtual ~ManglerRotor(void)
Definition: rotor.cc:1346