def get_MM_matrix():
MM11 = 1.69765
MM22 = 0.113177
MM33 = 0.113177
MM_col1 = MM11 * vect_op.xhat()
MM_col2 = MM22 * vect_op.yhat()
MM_col3 = MM33 * vect_op.zhat()
MM = cas.horzcat(MM_col1, MM_col2, MM_col3)
return MM
def test(test_list):
options = {}
options['induction'] = {}
options['induction']['vortex_epsilon'] = 0.
x_obs = 0.5 * vect_op.xhat_np()
u_ind = get_induced_velocity_at_observer(options, test_list, x_obs)
xhat_component = cas.mtimes(u_ind.T, vect_op.xhat())
if not (xhat_component == 0):
message = 'induced velocity at observer does not work as expected. ' \
'test u_ind component in plane of QSVR (along xhat) is ' + str(xhat_component)
awelogger.logger.error(message)
raise Exception(message)
yhat_component = cas.mtimes(u_ind.T, vect_op.yhat())
if not (yhat_component == 0):
message = 'induced velocity at observer does not work as expected. ' \
'test u_ind component in plane of QSVR (along yhat) is ' + str(yhat_component)
awelogger.logger.error(message)
raise Exception(message)
zhat_component = cas.mtimes(u_ind.T, vect_op.zhat())
sign_along_zhat = vect_op.sign(zhat_component)
sign_comparison = (sign_along_zhat - (-1))**2.
if not (sign_comparison < 1.e-8):
message = 'induced velocity at observer does not work as expected. ' \
'sign of test u_ind component out-of-plane of QSVR (projected on zhat) is ' + str(sign_along_zhat)
awelogger.logger.error(message)
raise Exception(message)
calculated_norm = vect_op.norm(u_ind)
expected_norm = 0.752133
norm_comparison = (calculated_norm - expected_norm)**2.
if not (norm_comparison < 1.e-8):
message = 'induced velocity at observer does not work as expected. ' \
'squared difference of norm of test u_ind vector is ' + str(norm_comparison)
awelogger.logger.error(message)
raise Exception(message)
return None
def get_convection_residual(options, wind, variables, architecture):
kite_nodes = architecture.kite_nodes
wingtips = ['ext', 'int']
wake_nodes = options['aero']['vortex']['wake_nodes']
resi = []
for kite in kite_nodes:
for tip in wingtips:
for wake_node in range(wake_nodes):
wx_local = tools.get_wake_node_position_si(
options, variables, kite, tip, wake_node)
dwx_local = tools.get_wake_node_velocity_si(
options, variables, kite, tip, wake_node)
altitude = cas.mtimes(wx_local.T, vect_op.zhat())
u_infty = wind.get_velocity(altitude)
resi_local = dwx_local - u_infty
resi = cas.vertcat(resi, resi_local)
return resi
def test():
point_obs = vect_op.yhat()
point_1 = 1000. * vect_op.zhat()
point_2 = -1. * point_1
Gamma = 1.
epsilon = 1.e-2
seg_data = cas.vertcat(point_obs, point_1, point_2, Gamma, epsilon)
vec_found = filament(seg_data)
val_normalize = 1. / (2. * np.pi)
vec_norm = vec_found / val_normalize
difference = vec_norm - vect_op.xhat()
resi = cas.mtimes(difference.T, difference)
thresh = 1.e-6
if resi > thresh:
message = 'biot-savart filament induction test gives error of size: ' + str(
resi)
awelogger.logger.error(message)
raise Exception(message)
return None
def get_aerodynamic_outputs(options, atmos, wind, variables, outputs,
parameters, architecture):
xd = variables['xd']
b_ref = parameters['theta0', 'geometry', 'b_ref']
c_ref = parameters['theta0', 'geometry', 'c_ref']
s_ref = parameters['theta0', 'geometry', 's_ref']
reference_lengths = cas.diag(cas.vertcat(b_ref, c_ref, b_ref))
kite_nodes = architecture.kite_nodes
for kite in kite_nodes:
parent = architecture.parent_map[kite]
q = xd['q' + str(kite) + str(parent)]
dq = xd['dq' + str(kite) + str(parent)]
vec_u_eff = tools.get_u_eff_in_earth_frame(options, variables, wind,
kite, architecture)
u_eff = vect_op.smooth_norm(vec_u_eff)
rho = atmos.get_density(q[2])
q_eff = 0.5 * rho * cas.mtimes(vec_u_eff.T, vec_u_eff)
if int(options['kite_dof']) == 3:
kite_dcm = three_dof_kite.get_kite_dcm(options, variables, wind,
kite, architecture)
elif int(options['kite_dof']) == 6:
kite_dcm = six_dof_kite.get_kite_dcm(kite, variables, architecture)
else:
message = 'unsupported kite_dof chosen in options: ' + str(
options['kite_dof'])
awelogger.logger.error(message)
if int(options['kite_dof']) == 3:
framed_forces = tools.get_framed_forces(vec_u_eff, kite_dcm,
variables, kite,
architecture)
m_aero_body = cas.DM.zeros((3, 1))
elif int(options['kite_dof']) == 6:
framed_forces = tools.get_framed_forces(vec_u_eff, kite_dcm,
variables, kite,
architecture)
framed_moments = tools.get_framed_moments(vec_u_eff, kite_dcm,
variables, kite,
architecture)
m_aero_body = framed_moments['body']
else:
message = 'unsupported kite_dof chosen in options: ' + str(
options['kite_dof'])
awelogger.logger.error(message)
f_aero_body = framed_forces['body']
f_aero_wind = framed_forces['wind']
f_aero_control = framed_forces['control']
f_aero_earth = framed_forces['earth']
coeff_body = f_aero_body / q_eff / s_ref
CA = coeff_body[0]
CY = coeff_body[1]
CN = coeff_body[2]
f_drag_wind = f_aero_wind[0] * vect_op.xhat()
f_side_wind = f_aero_wind[1] * vect_op.yhat()
f_lift_wind = f_aero_wind[2] * vect_op.zhat()
f_drag_earth = frames.from_wind_to_earth(vec_u_eff, kite_dcm,
f_drag_wind)
f_side_earth = frames.from_wind_to_earth(vec_u_eff, kite_dcm,
f_side_wind)
f_lift_earth = frames.from_wind_to_earth(vec_u_eff, kite_dcm,
f_lift_wind)
coeff_wind = f_aero_wind / q_eff / s_ref
CD = coeff_wind[0]
CS = coeff_wind[1]
CL = coeff_wind[2]
CM = cas.mtimes(cas.inv(reference_lengths),
m_aero_body) / q_eff / s_ref
Cl = CM[0]
Cm = CM[1]
Cn = CM[2]
aero_coefficients = {}
aero_coefficients['CD'] = CD
aero_coefficients['CS'] = CS
aero_coefficients['CL'] = CL
aero_coefficients['CA'] = CA
aero_coefficients['CY'] = CY
aero_coefficients['CN'] = CN
aero_coefficients['Cl'] = Cl
aero_coefficients['Cm'] = Cm
aero_coefficients['Cn'] = Cn
aero_coefficients['LoverD'] = CL / CD
base_aerodynamic_quantities = {}
base_aerodynamic_quantities['kite'] = kite
base_aerodynamic_quantities['air_velocity'] = vec_u_eff
base_aerodynamic_quantities['airspeed'] = u_eff
base_aerodynamic_quantities['aero_coefficients'] = aero_coefficients
base_aerodynamic_quantities['f_aero_earth'] = f_aero_earth
base_aerodynamic_quantities['f_aero_body'] = f_aero_body
base_aerodynamic_quantities['f_aero_control'] = f_aero_control
base_aerodynamic_quantities['f_aero_wind'] = f_aero_wind
base_aerodynamic_quantities['f_lift_earth'] = f_lift_earth
base_aerodynamic_quantities['f_drag_earth'] = f_drag_earth
base_aerodynamic_quantities['f_side_earth'] = f_side_earth
base_aerodynamic_quantities['m_aero_body'] = m_aero_body
base_aerodynamic_quantities['kite_dcm'] = kite_dcm
base_aerodynamic_quantities['q'] = q
base_aerodynamic_quantities['dq'] = dq
outputs = indicators.collect_kite_aerodynamics_outputs(
options, architecture, atmos, wind, variables, parameters,
base_aerodynamic_quantities, outputs)
outputs = indicators.collect_environmental_outputs(
atmos, wind, base_aerodynamic_quantities, outputs)
outputs = indicators.collect_aero_validity_outputs(
options, base_aerodynamic_quantities, outputs)
outputs = indicators.collect_local_performance_outputs(
architecture, atmos, wind, variables, parameters,
base_aerodynamic_quantities, outputs)
outputs = indicators.collect_power_balance_outputs(
options, architecture, variables, base_aerodynamic_quantities,
outputs)
return outputs
def get_ehat_tether(options):
inclination = options['incid_deg'] * np.pi / 180.
ehat_tether = np.cos(inclination) * vect_op.xhat() + np.sin(
inclination) * vect_op.zhat()
return ehat_tether
def __process_interpolation_Variables(interpolation_variables, configurations,
model):
"""Create casadi functions mapping interpolation variables to states
:type interpolation_variables: dict
:param interpolation_variables: variables defining the interpolation
:type configurations: dict
:param configurations: parameters defining a given configuration
:type model: awebox.model_dir.model
:param model: system model
:rtype: dict, casadi.struct_symSX
"""
# initialize dict
rotation_matrix = {}
rotation_matrix['q00'] = np.eye(3)
rotation_matrix['dq00'] = np.zeros([3, 3])
kite_nodes = model.architecture.kite_nodes
parent_nodes = model.architecture.parent_map
parent_nodes[0] = 0
number_of_nodes = model.architecture.number_of_nodes
kite_dof = model.kite_dof
trajectory_type = model.options['trajectory']['type']
conf_0 = configurations['conf_0']
conf_f = configurations['conf_f']
l_s = configurations['l_s']
l_i = configurations['l_i']
## generate casadi expressions
# generate symbolic variables
sinterp = __get_sstruct(interpolation_variables)
sstates = {}
sstates['var'] = {}
sstates['var']['q00'] = 0.
sstates['dvar'] = {}
sstates['dvar']['q00'] = 0.
sstates['ddvar'] = {}
sstates['ddvar']['q00'] = 0.
# generate dict to store functions in
sstates_functions = {}
# generate casadi functions: inteprolation variables -> states
l_t = sinterp['var', 'l_t']
for node in range(1, number_of_nodes):
parent_node = parent_nodes[node]
node_str = str(node) + str(parent_node)
grandparent_node = parent_nodes[parent_node]
parent_str = str(parent_node) + str(grandparent_node)
grandgrandparent_node = parent_nodes[grandparent_node]
grandparent_str = str(grandparent_node) + str(grandgrandparent_node)
if (node == 1) and (
node not in kite_nodes
): # first node parameterized with main tether length
a = cas.mtimes((conf_f['q' + node_str] - conf_0['q' + node_str]).T,
(conf_f['q' + node_str] - conf_0['q' + node_str]))
if a == 0:
e_t = vect_op.normalize(conf_0['q' + node_str])
else:
b = 2 * cas.mtimes(
conf_0['q' + node_str].T,
(conf_f['q' + node_str] - conf_0['q' + node_str]))
c = cas.mtimes(conf_0['q' + node_str].T,
conf_0['q' + node_str]) - l_t**2
D = b**2 - 4 * a * c
x1 = (-b + np.sqrt(D)) / (2 * a)
x2 = (-b - np.sqrt(D)) / (2 * a)
#if x2 >= 0:
# s = x2
#else:
# s = x1
s = x1
e_t = 1. / l_t * (
conf_0['q' + node_str] + s *
(conf_f['q' + node_str] - conf_0['q' + node_str]))
sstates['var']['q' + node_str] = l_t * e_t
rotation_matrix = compute_rotation_matrices(
sinterp.prefix['var'], node_str, parent_str, rotation_matrix)
else:
if (node in kite_nodes):
if node == 1:
tether_length = l_t
else:
tether_length = l_s
Phi = sinterp['var', 'Phi' + node_str]
Omega = sinterp['var', 'Omega' + node_str]
parent = sstates['var']['q' + parent_str]
grandparent = sstates['var']['q' + grandparent_str]
radius = tether_length * np.sin(Phi)
l_x = tether_length * np.cos(Phi)
# define axis of rotation
if node != 1:
axis_of_rot = parent - grandparent
axis_of_rot = vect_op.normalize(axis_of_rot)
else:
inclination = sinterp['var', 'inclination' + node_str]
axis_of_rot = np.zeros([3, 1])
axis_of_rot[0] = np.cos(inclination)
axis_of_rot[2] = np.sin(inclination)
e_hat_x = axis_of_rot
e_hat_y = vect_op.normed_cross(e_hat_x, vect_op.zhat())
e_hat_z = vect_op.normed_cross(e_hat_y, e_hat_x)
e_hat_r = e_hat_z * np.sin(Omega) + e_hat_y * np.cos(Omega)
sstates['var']['q' + node_str] = sstates['var'][
'q' + parent_str] + e_hat_r * radius + e_hat_x * l_x
else:
tether_length = l_i
rotation_matrix = compute_rotation_matrices(
sinterp.prefix['var'], node_str, parent_str,
rotation_matrix)
tether_vector = vect_op.xhat()
tether_vector = cas.mtimes(rotation_matrix['q' + node_str],
tether_vector)
sstates['var']['q' + node_str] = sstates['var'][
'q' + parent_str] + tether_vector * tether_length
sstates['dvar']['q' + node_str] = cas.mtimes(
cas.jacobian(sstates['var']['q' + node_str], sinterp['var']),
sinterp['dvar'])
# create rotational kinematics
if int(kite_dof) == 6:
# iterate over all kite ndoes
if node in kite_nodes:
# get node strings
parent = parent_nodes[node]
node_str = str(node) + str(parent)
grandparent = parent_nodes[parent]
parent_str = str(parent) + str(grandparent)
grandgrandparent = parent_nodes[grandparent]
grandparent_str = str(grandparent) + str(grandgrandparent)
# compute dcm matrix for node
e_hat_1, e_hat_2, e_hat_3 = __get_kite_axis(
sstates, node_str, parent_str, grandparent_str,
trajectory_type)
dcm = ct.horzcat(e_hat_1, e_hat_2, e_hat_3)
dcm_column = ct.reshape(dcm, (9, 1))
# compute rotation around axis
omega_norm = vect_op.norm(
sstates['dvar']['q' + node_str]) / radius
if trajectory_type == 'lift_mode':
omega_vector = vect_op.normalize(axis_of_rot) * omega_norm
elif trajectory_type == 'nominal_landing':
omega_vector = cas.DM([0, 0, 0])
# put in state dict
sstates['omega' + node_str] = omega_vector
sstates['r' + node_str] = dcm_column
# generate functions
sstates_functions['q' + node_str] = cas.Function(
'q' + node_str, [sinterp], [sstates['var']['q' + node_str]])
sstates_functions['dq' + node_str] = cas.Function(
'dq' + node_str, [sinterp], [sstates['dvar']['q' + node_str]])
if int(kite_dof) == 6 and node in kite_nodes:
sstates_functions['r' + node_str] = cas.Function(
'r' + node_str, [sinterp], [sstates['r' + node_str]])
sstates_functions['omega' + node_str] = cas.Function(
'omega' + node_str, [sinterp], [sstates['omega' + node_str]])
return sstates_functions, sinterp
