def calc_fan_flow(self, iphi=None):
"""Calculate flow angles."""
if iphi is not None:
self.phi = iphi
self.psi = 2 * (1 - self.reaction - self.phi * m.tan(r(self.alpha1)))
self.u = self.rpm / 60 * 2 * m.pi * self.radius
self.beta1 = d(m.atan((1 / self.phi) - m.tan(r(self.alpha1))))
self.beta2 = d(
m.atan((2 * self.reaction - 1) / self.phi + m.tan(r(self.alpha1))))
self.betam = d(
m.atan((m.tan(r(self.beta1)) + m.tan(r(self.beta2))) / 2))
self.alpha2 = d(m.atan((1 / self.phi) - m.tan(r(self.beta2))))
self.alpham = d(
m.atan((m.tan(r(self.alpha1)) + m.tan(r(self.alpha2))) / 2))
self.cx = self.phi * self.u
self.w1 = self.cx / m.cos(r(self.beta1))
self.w2 = self.cx / m.cos(r(self.beta2))
self.c1 = self.cx / m.cos(r(self.alpha1))
self.c2 = self.cx / m.cos(r(self.alpha2))
self.wt1 = self.w1 * m.sin(r(self.beta1))
self.wt2 = self.w1 * m.sin(r(self.beta2))
self.ct1 = self.c1 * m.sin(r(self.alpha1))
self.ct2 = self.c2 * m.sin(r(self.alpha2))
# Thermodynamics
self.mach = self.cx / m.sqrt(self.GAMMA * self.R * self.t1)
self.dt0 = self.psi * (self.u)**2 / self.CP
self.t01 = self.t1 * (1 + ((self.GAMMA - 1) * self.mach**2) / 2)
self.p01 = self.p1*(1 + ((self.GAMMA - 1)*self.mach**2)/2)\
** (self.GAMMA/(self.GAMMA - 1))
self.t02 = self.t01 + self.dt0
self.p02 = self.p01 * (self.t02 / self.t01)**(self.GAMMA /
(self.GAMMA - 1))
self.t2 = self.t02 / (1 + ((self.GAMMA - 1) * self.mach**2) / 2)
self.p2 = self.p02 / ((1 + (
(self.GAMMA - 1) * self.mach**2) / 2)**(self.GAMMA /
(self.GAMMA - 1)))
self.eta_p = ((self.GAMMA - 1)/self.GAMMA)\
* m.log(self.p2/self.p1)/m.log(self.t2/self.t1)
self.eta_c = ((self.p02/self.p01)**(self.GAMMA/(self.GAMMA - 1)) - 1)\
/ (self.dt0/self.t01)
self.pr = (1 + (self.dt0/self.t01))\
** (self.GAMMA*self.eta_p/(self.GAMMA-1))
self.cp = (self.p2 - self.p1) / (self.p01 - self.p1)
self.work = self.CP * self.dt0
self.torque = self.work / (self.u / self.radius)
self.capacity = self.GAMMA/m.sqrt(self.GAMMA - 1)*self.mach\
* (1 + (self.GAMMA - 1)/2*self.mach**2)\
** (-(1/2)*(self.GAMMA + 1)/(self.GAMMA - 1))
def redefine_task_cs(self, translate_x, translate_y, rotate_z):
if not (translate_x == 0 and translate_y == 0 and rotate_z == 0):
# calculate movement vector angle
current_foot_pos_thorax = self.get_node("foot-thorax")
odom_cs = self.cs.parent.parent # leg->thorax->odom
foot_pos_odom = odom_cs.to_this(current_foot_pos_thorax)
moved_thorax_cs = self.cs.parent.get_derivative("tmp_thorax_for_tcs_vector", translate_x, translate_y, 0, 0, 0, rotate_z)
new_foot_pos_thorax = moved_thorax_cs.to_this(foot_pos_odom, caller="redefine_task_cs")
dx = new_foot_pos_thorax.x - current_foot_pos_thorax.x
dy = new_foot_pos_thorax.y - current_foot_pos_thorax.y
angle = d(atan2(dx, dy)) - 180
home_pos = self.home_position_thorax
self.task_cs.redefine_tuple(home_pos.tuple, (None, None, -angle))
self.update_swings_inwards()
else:
self.swings_inwards = None
def calc_joint_angles(self, target_position, best_effort):
general_calculation = True
position_leg_cs = self.cs.to_this(target_position)
angle_coxa = -1 * d(atan2(position_leg_cs.x, position_leg_cs.y))
femur_to_position_projection = 0
femur_segment = self.segments["femur"]
femur_length = femur_segment.length
tibia_segment = self.segments["tibia"]
tibia_length = tibia_segment.length
tarsus_segment = self.segments["tarsus"]
tarsus_length = tarsus_segment.length
coxa_segment = self.segments["coxa"]
if best_effort:
tgt_tarsus = position_leg_cs.clone
tgt_tarsus.z += tarsus_length
femur = self.get_node("femur")
# check if we can actually reach target_position
distance = femur.distance_to(tgt_tarsus)
max_dist = femur_length + tibia_length
min_dist = third_side(femur_length, tibia_length, 180 + tibia_segment.min_angle)
dz = femur.z - tgt_tarsus.z
# are we too far?
if distance > max_dist:
# yep, too far
# calculate femur angle to target
femur_to_position_projection = sqrt(max_dist ** 2 - dz ** 2)
general_calculation = False
elif distance < min_dist:
# we are too close
femur_to_position_projection = sqrt(min_dist ** 2 - dz ** 2)
general_calculation = False
else:
# we are not too close and not too far
general_calculation = True
if general_calculation:
# works either when not best_effort or when best_effort and distance is ok
coxa_to_position_projection = sqrt(position_leg_cs.x ** 2 + position_leg_cs.y ** 2)
femur_to_position_projection = coxa_to_position_projection - coxa_segment.length
distance_to_tarsus_top = sqrt(femur_to_position_projection ** 2 + (position_leg_cs.z + tarsus_length) ** 2)
if position_leg_cs.z + tarsus_length == 0:
angle_down_to_tarsus_top = 0
else:
angle_down_to_tarsus_top = 90 - angle_ab(-1 * (position_leg_cs.z + tarsus_length), distance_to_tarsus_top, femur_to_position_projection)
angle_femur = angle_ab(femur_length, distance_to_tarsus_top, tibia_length) - angle_down_to_tarsus_top
angle_tibia = -180 + angle_ac(femur_length, distance_to_tarsus_top, tibia_length)
angle_tarsus = -180 + 90 - angle_femur - angle_tibia
if coxa_segment.min_angle > angle_coxa:
if best_effort:
angle_coxa = coxa_segment.min_angle
else:
raise Exception(self.name + " coxa angle too low")
elif coxa_segment.max_angle < angle_coxa:
if best_effort:
angle_coxa = coxa_segment.max_angle
else:
raise Exception(self.name + " coxa angle too high")
if femur_segment.min_angle > angle_femur:
if best_effort:
angle_femur = femur_segment.min_angle
else:
raise Exception(self.name + " femur angle too low")
elif femur_segment.max_angle < angle_femur:
if best_effort:
angle_femur = femur_segment.max_angle
else:
raise Exception(self.name + " femur angle too high")
if tibia_segment.min_angle > angle_tibia:
if best_effort:
angle_tibia = tibia_segment.min_angle
else:
raise Exception(self.name + " tibia angle too low")
elif tibia_segment.max_angle < angle_tibia:
if best_effort:
angle_tibia = tibia_segment.max_angle
else:
raise Exception(self.name + " tibia angle too high")
if tarsus_segment.min_angle > angle_tarsus:
if best_effort:
angle_tarsus = tarsus_segment.min_angle
else:
raise Exception(self.name + " tarsus angle too low")
elif tarsus_segment.max_angle < angle_tarsus:
if best_effort:
angle_tarsus = tarsus_segment.max_angle
else:
raise Exception(self.name + " tarsus angle too high")
return angle_coxa, angle_femur, angle_tibia, angle_tarsus
def create_coord_file(filename: str,
plot: bool,
xc,
yc,
kc,
bc,
xt,
yt,
kt,
bt,
cle,
cte,
wte,
rle=0): # pylint: disable=W0613
"""Generate airfoil coordinate file."""
bp = {
'x': {
'LET': [0, 0, bt, xt],
'TET': [
xt, 2 * xt - bt,
1 + (0 - (1.5 * kt * (xt - bt)**2 + yt)) * ut.cot(r(wte)), 1
],
'LEC': [
0, bc * ut.cot(r(cle)), xc - ((2 * (bc - yc)) / (3 * kc))**0.5,
xc
],
'TEC': [
xc, xc + ((2 * (bc - yc)) / (3 * kc))**0.5,
1 + (0 - bc) * ut.cot(r(cte)), 1
]
},
'y': {
'LET': [0, (1.5 * kt * (xt - bt)**2 + yt), yt, yt],
'TET': [yt, yt, (1.5 * kt * (xt - bt)**2 + yt), 0],
'LEC': [0, bc, yc, yc],
'TEC': [yc, yc, bc, 0]
}
}
c = {'x': [], 'yC': [], 'yT': []}
dc = {'xC': [], 'xT': [], 'yC': [], 'yT': []}
# x, y coordinates and slopes for LE and TE of T and C bezier curves
n_points = 80
for i in range(0, n_points + 1):
x = (1 - m.cos(i * m.pi / n_points)) / 2
c['x'].append(x)
for j in ['C', 'T']:
if j == 'C':
xmax = xc
elif j == 'T':
xmax = xt
if x <= xmax:
loc = 'LE'
bp_xi = bp['x'][loc + j]
elif x > xmax:
loc = 'TE'
bp_xi = bp['x'][loc + j]
u_x = [
-bp_xi[0] + 3 * bp_xi[1] - 3 * bp_xi[2] + bp_xi[3],
3 * bp_xi[0] - 6 * bp_xi[1] + 3 * bp_xi[2],
-3 * bp_xi[0] + 3 * bp_xi[1], bp_xi[0] - x
]
u = [
root.real for root in np.roots(u_x)
if root.imag == 0 and 0 <= root <= (1 + 1 / (20 * n_points))
]
u = u[0]
c['y' + j].append(bp['y'][loc + j][0] * (1 - u)**3 +
3 * bp['y'][loc + j][1] * (u) * (1 - u)**2 +
3 * bp['y'][loc + j][2] * (u)**2 * (1 - u) +
bp['y'][loc + j][3] * (u)**3)
for k in ['x', 'y']:
dc[k +
j].append(bp[k][loc + j][0] * (-3 * (1 - u)**2) +
3 * bp[k][loc + j][1] * (3 * u**2 - 4 * u + 1) +
3 * bp[k][loc + j][2] * (-3 * u**2 + 2 * u) +
bp[k][loc + j][3] * (3 * u**2))
theta = []
xu = []
yu = []
xl = []
yl = []
lines = []
for i in range(0, len(c['x'])): # theta[0] is a divide by 0 error
theta.append(d(m.atan(dc['yC'][i] / dc['xC'][i])))
xu.append(c['x'][i] - c['yT'][i] * m.sin(r(theta[i])))
yu.append(c['yC'][i] + c['yT'][i] * m.cos(r(theta[i])))
xl.append(c['x'][i] + c['yT'][i] * m.sin(r(theta[i])))
yl.append(c['yC'][i] - c['yT'][i] * m.cos(r(theta[i])))
lines.append([(xu[i], yu[i]), (xl[i], yl[i])])
# Organize coordinates so that xfoil can read them
xcoord = list(reversed(xu))[:-1] + xl
ycoord = list(reversed(yu))[:-1] + yl
# Create airfoil file for xfoil
os.chdir('Input')
with open(filename, 'w') as datafile:
for i, _ in enumerate(xcoord):
datafile.write(f' {xcoord[i]:.6f} {ycoord[i]:.6f}\n')
os.chdir('..')
if plot:
lc = mc.LineCollection(lines)
_, ax = plt.subplots()
ax.add_collection(lc)
plt.scatter(c['x'], c['yC'], color='red', marker='^')
plt.scatter(c['x'], c['yT'], color='blue', marker='^')
plt.scatter(xu, yu, color='green')
plt.scatter(xl, yl, color='green')
plt.axis('equal')
plt.show()
def calcairfoil(self,
stage,
blade: str,
station: str,
plot_airfoil=False,
plot_ploar=False,
plot_cp=False,
plot_sv=False):
"""Calculate Bezier-PARSEC variables and airfoil properties."""
avle, avte, rvle, rvte, v1, v2, radius = ut.get_vars(stage=stage,
blade=blade,
station=station)
cx = v1 * m.cos(r(avle))
u = stage.rpm / 60 * 2 * m.pi * radius
betam = d(m.atan((m.tan(r(avle)) + m.tan(r(avte))) / 2))
self.dh = v2 / v1
self.space = (2 * m.pi * radius) / self.z
# self.chord = stage.span/self.ar
# self.sigma = self.chord/self.space
# self.df = ((1 - m.cos(r(avle))/m.cos(r(avte)))
# + ((m.cos(r(avle))*(m.tan(r(avle)) - m.tan(r(avte))))
# / (2*self.sigma)))
self.sigma = ((m.cos(r(avle)) * (m.tan(r(avle)) - m.tan(r(avte)))) /
(2 * (m.cos(r(avle)) / m.cos(r(avte)) - 1 + self.df)))
self.chord = self.sigma * self.space
# Incidence, deviation, and blade angle calculation
self.deflection = abs(avle - avte)
self.incidence, _n_slope = ut.calcincidence(thickness=2 * self.yt,
solidity=self.sigma,
relative_inlet_angle=rvle)
self.deviation, _m_slope = ut.calcdeviation(thickness=2 * self.yt,
solidity=self.sigma,
relative_inlet_angle=rvle)
self.blade_angle_i = avle - self.incidence
self.blade_angle_e = avte - self.deviation
self.camber = abs(self.blade_angle_i - self.blade_angle_e)
# Compare to:
# self.camber2 = (self.deflection
# - (self.incidence
# - self.deviation))/(1 - m_slope + n_slope)
# self.blade_angle_e2 = self.blade_angle_i + self.camber2
# Assumes double circular arc airfoil to estimate stagger
self.stagger = (self.blade_angle_i * self.xcr + self.blade_angle_e *
(1 - self.xcr))
self.aoa = abs(self.stagger - avle)
# Redefine blade angles to sw blade angles (stagger independent)
self.cle = self.blade_angle_i - self.stagger
self.cte = self.stagger - self.blade_angle_e
# Assume NACA 4 definition of wedge angle and leading edge radius
self.rle = 1.1019 * (2 * self.yt)**2
self.wte = 2 * d(m.atan(1.16925 *
(2 * self.yt))) # TE radius done in sw
# Calculate natural xc,yc from cle and cte using ycr altitutde ratio
self.xc = m.tan(r(
self.cte)) / (m.tan(r(self.cle)) + m.tan(r(self.cte)))
# self.ycr = (self.xc + 1)/2
self.yc = self.ycr * self.xc * abs(m.tan(r(self.cle)))
# Assume NACA 4 curvature
self.kc, self.kt = ut.curvatures(xc=self.xc,
yc=self.yc,
xt=self.xt,
yt=self.yt)
self.bc, self.bt = ut.beziers(xc=self.xc,
yc=self.yc,
kc=self.kc,
xt=self.xt,
yt=self.yt,
kt=self.kt,
cle=self.cle,
cte=self.cte,
rle=self.rle,
blade=blade,
station=station)
airfoil_name = blade + '_' + station
wf.create_coord_file(filename=airfoil_name,
plot=plot_airfoil,
xc=self.xc,
yc=self.yc,
kc=self.kc,
bc=self.bc,
xt=self.xt,
yt=self.yt,
kt=self.kt,
bt=self.bt,
cle=self.cle,
cte=self.cte,
wte=self.wte,
rle=self.rle)
self.Re = self.rho * v1 * self.chord / self.mu
self.polar = xf.find_coefficients(airfoil=airfoil_name,
indir='Input',
outdir='Output',
alpha=self.aoa,
Reynolds=self.Re,
iteration=500,
echo=False,
delete=False,
NACA=False,
PANE=True)
self.cp = xf.find_pressure_coefficients(airfoil=airfoil_name,
alpha=self.aoa,
indir='Input',
outdir='Output',
Reynolds=self.Re,
iteration=500,
echo=False,
NACA=False,
chord=1.,
PANE=True,
delete=False)
self.sv = {'x': list(), 'y': list(), 'v': list()}
for i in range(len(self.cp['Cp'])):
self.sv['x'].append(self.cp['x'][i])
# self.sv['y'].append(self.cp['y'][i])
self.sv['v'].append(m.sqrt(1 - self.cp['Cp'][i]))
if plot_cp:
plt.plot(self.cp['x'], self.cp['Cp'])
plt.show()
if plot_sv:
plt.plot(self.sv['x'], self.sv['v'])
plt.show()
if plot_ploar:
# Gather multiple angles of attack for airfoil and get polars
alphas = list(range(-30, 30))
polars = xf.find_coefficients(airfoil=airfoil_name,
alpha=alphas,
Reynolds=self.Re,
iteration=500,
delete=True,
echo=False,
NACA=False,
PANE=True)
# Plot airfoil
plt.plot(polars['alpha'], polars['CL'])
plt.show()
try:
cl = self.polar['CL']
cd = self.polar['CD']
gamma = m.atan(cd / cl)
self._psi = (((cx / u) / 2) * ut.sec(r(betam)) * self.sigma *
(cl + cd * m.tan(r(betam))))
self.psi_opt = (((cx / u) / m.sqrt(2)) * self.sigma * (cl + cd))
self.dX = ((self.rho * cx**2 * self.chord * cl /
(2 * m.cos(r(betam))**2)) * m.sin(r(betam) - gamma) /
m.cos(gamma))
self.dTau = (
(self.rho * cx**2 * self.chord * cl * self.z * radius /
(2 * m.cos(r(betam))**2)) * m.cos(r(betam) - gamma) /
m.cos(gamma))
self.delta_p = cl * ((self.rho * cx**2 * self.chord /
(2 * self.space * m.cos(r(betam))**2)) *
m.sin(r(betam) - gamma) / m.cos(gamma))
self.delta_T = (cl / 1.005) * (
(u * cx * self.chord / (2 * self.space * m.cos(r(betam))**2)) *
m.cos(r(betam) - gamma) / m.cos(gamma))
self.efficiency = (cx/u)*m.tan(r(betam) - gamma)\
+ cx*m.tan(r(rvte))/(2*u)
except TypeError:
print('Design point did not converge in xfoil.')
# pass
print(f'{station} {blade} Performance')
print(f' DF: {self.df:.2f} (<=0.6)')
print(f' DH: {self.dh:.2f} (>=0.72)')
print(f' i : {self.incidence:.2f} deg')
print(f' d : {self.deviation:.2f} deg')
print('\n')
def chk(x):
nonlocal nums
return sum([d(n/x) for n in nums])
