class Rotor(object):
def __init__(self, mode_source_file, root_length=0):
# Modal element using data from Bladed model
print "Loading modes from '%s'..." % mode_source_file
self.blade = Blade(mode_source_file)
self.modes = self.blade.modal_rep()
Ry = rotmat_y(-pi / 2)
Rhb1 = rotmat_x(0 * 2 * pi / 3)
Rhb2 = rotmat_x(1 * 2 * pi / 3)
Rhb3 = rotmat_x(2 * 2 * pi / 3)
self.bearing = Hinge('bearing', [1, 0, 0])
root1 = RigidConnection('root1', root_length * np.dot(Rhb1, [0, 0, 1]),
dot(Rhb1, Ry))
root2 = RigidConnection('root2', root_length * np.dot(Rhb2, [0, 0, 1]),
dot(Rhb2, Ry))
root3 = RigidConnection('root3', root_length * np.dot(Rhb3, [0, 0, 1]),
dot(Rhb3, Ry))
self.blade1 = ModalElement('blade1', self.modes)
self.blade2 = ModalElement('blade2', self.modes)
self.blade3 = ModalElement('blade3', self.modes)
self.bearing.add_leaf(root1)
self.bearing.add_leaf(root2)
self.bearing.add_leaf(root3)
root1.add_leaf(self.blade1)
root2.add_leaf(self.blade2)
root3.add_leaf(self.blade3)
self.system = System(self.bearing)
# Prescribed DOF accelerations - constant rotor speed
self.system.prescribe(self.bearing, acc=0.0)
# setup integrator
self.integ = Integrator(self.system, ('pos', 'vel'))
self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox))
self.integ.add_output(
dynamics.LoadOutput(self.blade1.iprox, local=True))
self.integ.add_output(self.blade1.output_deflections())
self.integ.add_output(self.blade1.output_positions())
def simulate(self, qm0=None, spin=10.0, t1=1.5, dt=0.01):
# reset
self.system.q[:] = 0.0
self.system.qd[:] = 0.0
# initial conditions
if qm0 is not None: # initial modal amplitudes
self.system.q[self.blade1.istrain] = qm0
self.system.q[self.blade2.istrain] = qm0
self.system.q[self.blade3.istrain] = qm0
self.system.qd[self.bearing.istrain][0] = spin
# simulate
self.t, self.y = self.integ.integrate(t1, dt)
for i, lab in enumerate(self.integ.labels()):
print "%2d %s" % (i, lab)
return self.t, self.y
def lin(self, qm0=None, spin=10.0):
# reset
self.system.q[:] = 0.0
self.system.qd[:] = 0.0
# initial conditions
if qm0 is not None: # initial modal amplitudes
self.system.q[self.blade1.istrain] = qm0
self.system.q[self.blade2.istrain] = qm0
self.system.q[self.blade3.istrain] = qm0
else:
qm0 = np.zeros(self.blade1._nstrain * 3)
self.system.prescribe(self.bearing, vel=spin, acc=0.0)
self.system.qd[self.bearing.istrain][0] = spin
linsys = linearisation.LinearisedSystem(self.system, qm0)
return linsys
def ani(self, t=None, y=None, planview=True):
if t is None: t = self.t
if y is None: y = self.y
l = 40
if planview:
return dynvis.anim(self.system, t, y, (1, 2), (-l, l), (-l, l))
else:
return dynvis.anim(self.system, t, y, (0, 1), (-l, l), (-5, 5))
[0, 1, 2, 10], # time
[0, 0, 0, 0 ], # x
[0, 0, 20, 20], # y
[0, 0, 0, 0 ], # z
])
loading = BladeLoading(modes.x, wind_table, None)
# Modal element
el = ModalElement('el', modes, loading)
system = System(el)
el0 = ModalElement('el0', modes0, loading)
system0 = System(el0)
integ = Integrator(system)
integ0 = Integrator(system0)
integ.add_output(el.output_positions(stations=[16,32]))
integ0.add_output(el0.output_positions(stations=[16,32]))
#def simulate(system, t1=2.0, dt=0.005):
# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(path_damped)
bladed_defl = np.c_[
brun.get('blade 1 x-deflection;2'),
brun.get('blade 1 x-deflection;4'),
]
brun0 = pybladed.data.BladedRun(path_undamped)
bladed_defl0 = np.c_[
brun0.get('blade 1 x-deflection;2'),
brun0.get('blade 1 x-deflection;4'),
towerdef = Tower(bladed_file)
modes = towerdef.modal_rep()
endmass = 100000
endinertia = 100
el1 = ModalElement('el', modes, distal=False)
system1 = System(el1)
el2 = ModalElement('el', modes, distal=True)
body = RigidBody('body', endmass, inertia=endinertia*np.eye(3))
el2.add_leaf(body)
system2 = System(el2)
integ1 = Integrator(system1)
integ1.add_output(el1.output_positions())
integ2 = Integrator(system2, outputs=('pos','vel','acc'))
integ2.add_output(el2.output_positions())
integ2.add_output(dynamics.NodeOutput(body.iprox))
integ2.add_output(dynamics.NodeOutput(body.iprox, deriv=2))
integ2.add_output(dynamics.LoadOutput(body.iprox))
integ2.add_output(dynamics.StrainOutput(el2.imult))
if False:
t,y1 = integ1.integrate(20, 0.05)
t,y2 = integ2.integrate(20, 0.05)
def p():
fig = plt.figure()
ax = fig.add_subplot(311)
ax.plot(t, y2[3][:,2], 'b-', label='With end mass')
class Rotor(object):
def __init__(self, mode_source_file, root_length=0):
# Modal element using data from Bladed model
print "Loading modes from '%s'..." % mode_source_file
self.blade = Blade(mode_source_file)
self.modes = self.blade.modal_rep()
Ry = rotmat_y(-pi/2)
Rhb1 = rotmat_x(0 * 2*pi/3)
Rhb2 = rotmat_x(1 * 2*pi/3)
Rhb3 = rotmat_x(2 * 2*pi/3)
self.bearing = Hinge('bearing', [1,0,0])
root1 = RigidConnection('root1', root_length*np.dot(Rhb1,[0,0,1]), dot(Rhb1,Ry))
root2 = RigidConnection('root2', root_length*np.dot(Rhb2,[0,0,1]), dot(Rhb2,Ry))
root3 = RigidConnection('root3', root_length*np.dot(Rhb3,[0,0,1]), dot(Rhb3,Ry))
self.blade1 = ModalElement('blade1', self.modes)
self.blade2 = ModalElement('blade2', self.modes)
self.blade3 = ModalElement('blade3', self.modes)
self.bearing.add_leaf(root1)
self.bearing.add_leaf(root2)
self.bearing.add_leaf(root3)
root1.add_leaf(self.blade1)
root2.add_leaf(self.blade2)
root3.add_leaf(self.blade3)
self.system = System(self.bearing)
# Prescribed DOF accelerations - constant rotor speed
self.system.prescribe(self.bearing, acc=0.0)
# setup integrator
self.integ = Integrator(self.system, ('pos','vel'))
self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox))
self.integ.add_output(dynamics.LoadOutput(self.blade1.iprox, local=True))
self.integ.add_output(self.blade1.output_deflections())
self.integ.add_output(self.blade1.output_positions())
def simulate(self, qm0=None, spin=10.0, t1=1.5, dt=0.01):
# reset
self.system.q [:] = 0.0
self.system.qd[:] = 0.0
# initial conditions
if qm0 is not None: # initial modal amplitudes
self.system.q[self.blade1.istrain] = qm0
self.system.q[self.blade2.istrain] = qm0
self.system.q[self.blade3.istrain] = qm0
self.system.qd[self.bearing.istrain][0] = spin
# simulate
self.t,self.y = self.integ.integrate(t1, dt)
for i,lab in enumerate(self.integ.labels()):
print "%2d %s" % (i,lab)
return self.t, self.y
def lin(self, qm0=None, spin=10.0):
# reset
self.system.q [:] = 0.0
self.system.qd[:] = 0.0
# initial conditions
if qm0 is not None: # initial modal amplitudes
self.system.q[self.blade1.istrain] = qm0
self.system.q[self.blade2.istrain] = qm0
self.system.q[self.blade3.istrain] = qm0
else:
qm0 = np.zeros(self.blade1._nstrain * 3)
self.system.prescribe(self.bearing, vel=spin, acc=0.0)
self.system.qd[self.bearing.istrain][0] = spin
linsys = linearisation.LinearisedSystem(self.system, qm0)
return linsys
def ani(self, t=None, y=None, planview=True):
if t is None: t = self.t
if y is None: y = self.y
l = 40
if planview:
return dynvis.anim(self.system, t, y, (1,2), (-l,l), (-l,l))
else:
return dynvis.anim(self.system, t, y, (0,1), (-l,l), (-5,5))
towerdef = Tower(bladed_file)
modes = towerdef.modal_rep()
endmass = 100000
endinertia = 100
el1 = ModalElement('el', modes, distal=False)
system1 = System(el1)
el2 = ModalElement('el', modes, distal=True)
body = RigidBody('body', endmass, inertia=endinertia * np.eye(3))
el2.add_leaf(body)
system2 = System(el2)
integ1 = Integrator(system1)
integ1.add_output(el1.output_positions())
integ2 = Integrator(system2, outputs=('pos', 'vel', 'acc'))
integ2.add_output(el2.output_positions())
integ2.add_output(dynamics.NodeOutput(body.iprox))
integ2.add_output(dynamics.NodeOutput(body.iprox, deriv=2))
integ2.add_output(dynamics.LoadOutput(body.iprox))
integ2.add_output(dynamics.StrainOutput(el2.imult))
if False:
t, y1 = integ1.integrate(20, 0.05)
t, y2 = integ2.integrate(20, 0.05)
def p():
fig = plt.figure()
ax = fig.add_subplot(311)
