Python RigidConnection Examples

Example #1

File: test-gyroscope-constrained.py Project: ricklupton/mbwind

    def __init__(self, length, radius, mass, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.endmass = endmass
        
        Jx = mass * radius**2 / 2        
        Jyz = mass*(3*radius**2 + length**2) / 12        
        self.A = Jyz + endmass*(length/2)**2
        self.C = Jx

        self.pivot   = Hinge('pivot',   [0,1,0])
        self.offset  = RigidConnection('offset', [0,0,-length/2])
        self.axis    = Hinge('axis',    [0,0,1], rotmat_y(-np.pi/2))
        self.body    = UniformBeam('body', length, mass/length,
                                   1, 1, 1, Jx=Jx/2) # /2 because added to both ends
        self.endoffset = RigidConnection('endoffset', [0,0,length/2])
        self.endbody = RigidBody('end', endmass)

        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.axis)
        self.axis.add_leaf(self.body)
        
        self.pivot.add_leaf(self.endoffset)
        self.endoffset.add_leaf(self.endbody)
        self.system = System(self.pivot)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0) # constant rotational speed
        self.system.prescribe(self.body, acc=0.0) # rigid beam

Example #2

File: test-gyroscope-centred.py Project: ricklupton/mbwind

class BeamGyroscope(Gyroscope):
    def __init__(self, length, radius, mass, spin, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.spin = spin
        self.endmass = endmass
        Jx = mass * radius**2 / 2

        self.bearing = Hinge('bearing', [0,0,1])
        self.pivot   = Hinge('pivot',   [0,1,0])
        self.offset  = RigidConnection('offset', [-length/2,0,0])
        self.axis    = Hinge('axis',    [1,0,0])
        self.body    = UniformBeam('body', length, mass/length,
                                   1, 1, 1, Jx=Jx/2) # /2 because added to both ends
        self.endbody = RigidBody('end', endmass)

        self.bearing.add_leaf(self.pivot)
        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.axis)
        self.axis.add_leaf(self.body)
        self.offset.add_leaf(self.endbody)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0) # constant rotational speed
        self.system.prescribe(self.body, acc=0.0) # rigid beam

Example #3

    def __init__(self, length, radius, mass, spin, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.spin = spin
        self.endmass = endmass

        x = np.linspace(-length / 2, length / 2)
        modes = linearisation.ModalRepresentation(
            x=x,
            shapes=np.zeros((len(x), 3, 0)),
            rotations=np.zeros((len(x), 3, 0)),
            density=np.ones_like(x) * mass / length,
            mass_axis=np.zeros((len(x), 2)),
            section_inertia=np.ones_like(x) * radius**2 / 4,
            freqs=np.zeros((0, )),
        )

        self.bearing = Hinge('bearing', [0, 0, 1])
        self.pivot = Hinge('pivot', [0, 1, 0])
        self.axis = Hinge('axis', [0, 0, 1], rotmat_y(-np.pi / 2))
        self.body = ModalElement('body', modes)
        self.offset = RigidConnection('offset', [0, 0, length / 2])
        self.endbody = RigidBody('end', endmass)

        self.bearing.add_leaf(self.pivot)
        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.body)
        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0)  # constant rotational speed

Example #4

    def __init__(self, length, radius, mass, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.endmass = endmass

        Jx = mass * radius**2 / 2
        Jyz = mass * (3 * radius**2 + length**2) / 12
        self.A = Jyz + endmass * (length / 2)**2
        self.C = Jx

        self.pivot = Hinge('pivot', [0, 1, 0])
        self.offset = RigidConnection('offset', [0, 0, -length / 2])
        self.axis = Hinge('axis', [0, 0, 1], rotmat_y(-np.pi / 2))
        self.body = UniformBeam('body',
                                length,
                                mass / length,
                                1,
                                1,
                                1,
                                Jx=Jx / 2)  # /2 because added to both ends
        self.endoffset = RigidConnection('endoffset', [0, 0, length / 2])
        self.endbody = RigidBody('end', endmass)

        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.axis)
        self.axis.add_leaf(self.body)

        self.pivot.add_leaf(self.endoffset)
        self.endoffset.add_leaf(self.endbody)
        self.system = System(self.pivot)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0)  # constant rotational speed
        self.system.prescribe(self.body, acc=0.0)  # rigid beam

Example #5

    def __init__(self, length, radius, mass, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.endmass = endmass

        Jz = radius**2 / 2
        Jxy = (3 * radius**2 + length**2) / 12
        inertia = mass * np.diag([Jxy, Jxy, Jz])

        self.A = mass * Jxy + endmass * (length / 2)**2
        self.C = mass * Jz

        self.pivot = Hinge('pivot', [0, 1, 0])
        self.axis = Hinge('axis', [0, 0, 1])
        self.body = RigidBody('body', mass, inertia)
        self.offset = RigidConnection('offset', [0, 0, length / 2])
        self.endbody = RigidBody('end', endmass)

        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.body)

        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)

        self.system = System(self.pivot)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0)  # constant rotational speed

Example #6

File: test-gyroscope-centred.py Project: ricklupton/mbwind

class ModalGyroscope(Gyroscope):
    def __init__(self, length, radius, mass, spin, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.spin = spin
        self.endmass = endmass

        x = np.linspace(-length/2, length/2)
        modes = linearisation.ModalRepresentation(
            x             =x,
            shapes        =np.zeros((len(x),3,0)),
            rotations     =np.zeros((len(x),3,0)),
            density       =np.ones_like(x) * mass/length,
            mass_axis     =np.zeros((len(x),2)),
            section_inertia=np.ones_like(x) * radius**2 / 4,
            freqs         =np.zeros((0,)),
        )

        self.bearing = Hinge('bearing', [0,0,1])
        self.pivot   = Hinge('pivot',   [0,1,0])
        self.axis    = Hinge('axis',    [0,0,1], rotmat_y(-np.pi/2))
        self.body    = ModalElement('body', modes)
        self.offset  = RigidConnection('offset', [0,0,length/2])
        self.endbody = RigidBody('end', endmass)

        self.bearing.add_leaf(self.pivot)
        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.body)
        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0) # constant rotational speed

Example #7

    def __init__(self, length, radius, mass, spin, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.spin = spin
        self.endmass = endmass
        Jx = mass * radius**2 / 2

        self.bearing = Hinge('bearing', [0, 0, 1])
        self.pivot = Hinge('pivot', [0, 1, 0])
        self.offset = RigidConnection('offset', [-length / 2, 0, 0])
        self.axis = Hinge('axis', [1, 0, 0])
        self.body = UniformBeam('body',
                                length,
                                mass / length,
                                1,
                                1,
                                1,
                                Jx=Jx / 2)  # /2 because added to both ends
        self.endbody = RigidBody('end', endmass)

        self.bearing.add_leaf(self.pivot)
        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.axis)
        self.axis.add_leaf(self.body)
        self.offset.add_leaf(self.endbody)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0)  # constant rotational speed
        self.system.prescribe(self.body, acc=0.0)  # rigid beam

Example #8

File: test-gyroscope-centred.py Project: ricklupton/mbwind

class Gyroscope(object):
    def __init__(self, length, radius, mass, spin, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.spin = spin
        self.endmass = endmass

        Jz = radius**2 / 2
        Jxy = (3*radius**2 + length**2) / 12
        inertia = mass * np.diag([Jxy, Jxy, Jz])

        self.bearing = Hinge('bearing', [0,0,1])
        self.pivot   = Hinge('pivot',   [0,1,0])
        self.axis    = Hinge('axis',    [0,0,1])
        self.body    = RigidBody('body', mass, inertia)
        self.offset  = RigidConnection('offset', [0,0,length/2])
        self.endbody = RigidBody('end', endmass)

        self.bearing.add_leaf(self.pivot)
        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.body)
        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0) # constant rotational speed

    def simulate(self, xpivot=0.0, vprec=0.0, t1=10, dt=0.05):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0

        # initial conditions
        self.system.q [self.pivot.istrain][0] = xpivot # initial elevation
        self.system.qd[self.bearing.istrain][0] = vprec # initial azimuth spd
        self.system.qd[self.axis.istrain][0] = self.spin # initial rotation speed

        self.integ = Integrator(self.system, ('pos','vel'))
        self.integ.add_output(dynamics.LoadOutput(self.axis.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.pivot.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox))
        #integ.add_output(dynamics.CustomOutput(
        #    lambda s: np.dot(self.axis.mass_vv, self.system.qdd[el.iprox+el.idist]) + \
        #              np.dot(el.mass_ve, self.system.qdd[el.istrain])))

        # simulate
        if t1 > 0:
            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 ani(self, vs=1):
        l = self.length * 1.1
        return dynvis.anim(self.system, self.t, self.y,
                           (0,vs), (-l,l), (-l,l), velocities=False)

Example #9

File: test-rotor-frequencies-modal.py Project: ricklupton/mbwind

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.modes = ModalRepresentation.from_Bladed(mode_source_file)

        self.bearing = Hinge('bearing', [0,0,1])
        self.offset  = RigidConnection('offset', [root_length, 0, 0])
        self.blade   = ModalElement('blade', self.modes)
        self.bearing.add_leaf(self.offset)
        self.offset.add_leaf(self.blade)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.bearing.istrain, vel=0.0, acc=0.0) # constant spin speed

    def simulate(self, qm0, spin=10.0, t1=1.5, dt=0.01):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0

        # initial conditions
        self.system.q[self.blade.istrain] = qm0 # initial modal amplitudes
        self.system.prescribe(self.bearing.istrain, vel=spin, acc=0.0) #acc=spin/t1)

        # 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.blade.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.blade.iprox, local=True))
        self.integ.add_output(dynamics.CustomOutput(
            lambda s: self.blade.station_positions()[-1], label="Tip pos"))
        self.integ.add_output(dynamics.CustomOutput(
            lambda s: self.blade.quad_stress, label="Quad stress"))
        
        # simulate
        self.t,self.y = self.integ.integrate(t1, dt)
        return self.t, self.y
    
    def lin(self, qm0, spin=10.0):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0

        # initial conditions
        self.system.q[self.blade.istrain] = qm0 # initial modal amplitudes
        self.system.prescribe(self.bearing.istrain, vel=spin, acc=0.0) # constant speed
        
        linsys = linearisation.LinearisedSystem(self.system, qm0)
        return linsys

    def ani(self, vs=1):
        l = 40
        return dynvis.anim(self.system, self.t, self.y,
                           (0,vs), (-l,l), (-l,l), velocities=False, only_free=True)

Example #10

File: turbine.py Project: ricklupton/mbwind

    def __init__(self, bladed_file, root_length=0, rigid=False):
        # Modal element using data from Bladed model
        print "Loading modes from '%s'..." % bladed_file
        self.blade = Blade(bladed_file)
        self.tower = Tower(bladed_file)
        self.modes = self.blade.modal_rep()
        #self.tmodes = self.tower.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.base = FreeJoint('base')
        self.towerlink = RigidConnection('tower', [0,0,self.tower.hubheight])
        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.base.add_leaf(self.towerlink)
        self.towerlink.add_leaf(self.bearing)
        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.base)

        # Prescribed DOF accelerations - constant rotor speed
        self.base_motion = None
        self.base_motion_amp = 0
        self.system.prescribe(self.bearing, vel=0)
        self.system.prescribe(self.base, vel=0)
        if rigid:
            for b in (self.blade1, self.blade2, self.blade3):
                self.system.prescribe(b, vel=0)
        
        # setup integrator
        self.integ = Integrator(self.system, ('pos','vel','acc'))
        self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_deflections())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_positions())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.NodeOutput(b.iprox, local=True, deriv=2))

Example #11

    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.modes = ModalRepresentation.from_Bladed(mode_source_file)

        self.bearing = Hinge('bearing', [0, 0, 1])
        self.offset = RigidConnection('offset', [root_length, 0, 0])
        self.blade = ModalElement('blade', self.modes)
        self.bearing.add_leaf(self.offset)
        self.offset.add_leaf(self.blade)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.bearing.istrain, vel=0.0,
                              acc=0.0)  # constant spin speed

Example #12

File: test-gyroscope-constrained.py Project: ricklupton/mbwind

    def __init__(self, length, radius, mass, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.endmass = endmass

        Jz = radius**2 / 2
        Jxy = (3*radius**2 + length**2) / 12
        inertia = mass * np.diag([Jxy, Jxy, Jz])

        self.A = mass*Jxy + endmass*(length/2)**2
        self.C = mass*Jz

        self.pivot   = Hinge('pivot',   [0,1,0])
        self.axis    = Hinge('axis',    [0,0,1])
        self.body    = RigidBody('body', mass, inertia)
        self.offset  = RigidConnection('offset', [0,0,length/2])
        self.endbody = RigidBody('end', endmass)

        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.body)
        
        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)

        self.system = System(self.pivot)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0) # constant rotational speed

Example #13

File: test-gyroscope-constrained.py Project: ricklupton/mbwind

    def __init__(self, length, radius, mass, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.endmass = endmass

        # corrected radius for lumped masses
        mr = radius / np.sqrt(2)
        root3 = np.sqrt(3)
        
        self.A = 3 * (mass/3) * mr**2 / 2 + endmass*(length/2)**2
        self.C = 3 * (mass/3) * mr**2

        self.pivot   = Hinge('pivot',   [0,1,0])
        self.axis    = Hinge('axis',    [0,0,1])
        self.arm1    = RigidConnection('arm1', [mr,0,0])
        self.arm2    = RigidConnection('arm2', [-mr/2, mr*root3/2,0])
        self.arm3    = RigidConnection('arm3', [-mr/2,-mr*root3/2,0])
        self.body    = RigidBody('body',  mass/3)
        self.body2   = RigidBody('body2', mass/3)
        self.body3   = RigidBody('body3', mass/3)
        self.offset  = RigidConnection('offset', [0,0,length/2])
        self.endbody = RigidBody('end', endmass)

        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.arm1)
        self.axis.add_leaf(self.arm2)
        self.axis.add_leaf(self.arm3)
        self.arm1.add_leaf(self.body)
        self.arm2.add_leaf(self.body2)
        self.arm3.add_leaf(self.body3)
        
        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)
        self.system = System(self.pivot)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0) # constant rotational speed

Example #14

File: test-rotor-frequencies-modal.py Project: ricklupton/mbwind

    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.modes = ModalRepresentation.from_Bladed(mode_source_file)

        self.bearing = Hinge('bearing', [0,0,1])
        self.offset  = RigidConnection('offset', [root_length, 0, 0])
        self.blade   = ModalElement('blade', self.modes)
        self.bearing.add_leaf(self.offset)
        self.offset.add_leaf(self.blade)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.bearing.istrain, vel=0.0, acc=0.0) # constant spin speed

Example #15

File: test-rotor-frequencies-modal-impulse.py Project: ricklupton/mbwind

    def __init__(self, mode_source_file, root_length=0, wind_table=None):
        # 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()
        
        if wind_table is not None:
            loading = BladeLoading(self.blade, wind_table, None)
        else:
            loading = None

        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, loading)
        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, vel=0.0, 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())

Example #16

File: test-rotor-frequencies-modal-hinged.py Project: ricklupton/mbwind

    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.modes = ModalRepresentation.from_Bladed(mode_source_file)

        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.istrain, vel=0.0, acc=0.0)
        
        # setup integrator
        self.integ = Integrator(self.system, ('pos','vel'))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.CustomOutput(
                lambda s: b.station_positions()[-1], label="{} tip defl".format(b)))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.CustomOutput(
                lambda s: dot(b.Rp, b.station_positions()[-1]), label="{} tip pos".format(b)))

Example #17

class LumpedGyroscope(Gyroscope):
    def __init__(self, length, radius, mass, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.endmass = endmass

        # corrected radius for lumped masses
        mr = radius / np.sqrt(2)
        root3 = np.sqrt(3)

        self.A = 3 * (mass / 3) * mr**2 / 2 + endmass * (length / 2)**2
        self.C = 3 * (mass / 3) * mr**2

        self.pivot = Hinge('pivot', [0, 1, 0])
        self.axis = Hinge('axis', [0, 0, 1])
        self.arm1 = RigidConnection('arm1', [mr, 0, 0])
        self.arm2 = RigidConnection('arm2', [-mr / 2, mr * root3 / 2, 0])
        self.arm3 = RigidConnection('arm3', [-mr / 2, -mr * root3 / 2, 0])
        self.body = RigidBody('body', mass / 3)
        self.body2 = RigidBody('body2', mass / 3)
        self.body3 = RigidBody('body3', mass / 3)
        self.offset = RigidConnection('offset', [0, 0, length / 2])
        self.endbody = RigidBody('end', endmass)

        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.arm1)
        self.axis.add_leaf(self.arm2)
        self.axis.add_leaf(self.arm3)
        self.arm1.add_leaf(self.body)
        self.arm2.add_leaf(self.body2)
        self.arm3.add_leaf(self.body3)

        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)
        self.system = System(self.pivot)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0)  # constant rotational speed

Example #18

File: turbine.py Project: ricklupton/mbwind

class Turbine(object):
    def __init__(self, bladed_file, root_length=0, rigid=False):
        # Modal element using data from Bladed model
        print "Loading modes from '%s'..." % bladed_file
        self.blade = Blade(bladed_file)
        self.tower = Tower(bladed_file)
        self.modes = self.blade.modal_rep()
        #self.tmodes = self.tower.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.base = FreeJoint('base')
        self.towerlink = RigidConnection('tower', [0,0,self.tower.hubheight])
        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.base.add_leaf(self.towerlink)
        self.towerlink.add_leaf(self.bearing)
        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.base)

        # Prescribed DOF accelerations - constant rotor speed
        self.base_motion = None
        self.base_motion_amp = 0
        self.system.prescribe(self.bearing, vel=0)
        self.system.prescribe(self.base, vel=0)
        if rigid:
            for b in (self.blade1, self.blade2, self.blade3):
                self.system.prescribe(b, vel=0)
        
        # setup integrator
        self.integ = Integrator(self.system, ('pos','vel','acc'))
        self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_deflections())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_positions())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.NodeOutput(b.iprox, local=True, deriv=2))

    @property
    def mass(self):
        """Total mass of turbine"""
        return self.tower.total_mass + self.modes.mass * 3
    
    @property
    def inertia(self):
        """Total rotational inertia of turbine about base"""
        inertia = self.tower.total_inertia
        inertia[(0,1),(0,1)] = self.modes.mass * 3 * self.tower.hubheight
        return inertia
        # XXX neglecting rotor rotational inertia

    def set_base_motion(self, dof, w, amp):
        self.base_motion = dof
        self.base_motion_amp = amp
        self.system.prescribe(self.base, part=dof,
                              vel=lambda t: -w   *amp*np.sin(w*t),
                              acc=lambda t: -w**2*amp*np.cos(w*t))

    def set_initial_conditions(self, qm0=None, az0=None, rotor_speed=None):
        # 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
        if az0 is not None:
            self.system.q[self.bearing.istrain][0] = az0
        if self.base_motion is not None:
            self.system.q[self.base.istrain][self.base_motion] = self.base_motion_amp
        if rotor_speed is not None:
            self.system.prescribe(self.bearing, vel=rotor_speed)

    def simulate(self, qm0=None, az0=0.0, rotor_speed=10.0, t1=None,
                 dt=0.01, t0=0.0, init=False):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)
        
        if t1 is None:
            t1 = 4*pi/rotor_speed if (rotor_speed != 0.0) else 2
        
        if init:
            self.system.find_equilibrium()
        
        # simulate
        self.t,self.y = self.integ.integrate(t1, dt, t0)
        for i,lab in enumerate(self.integ.labels()):
            print "%2d  %s" % (i,lab)
        return self.t, self.y
    
    def lin(self, qm0=None, az0=None, rotor_speed=None, init=False):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)
        
        if init:
            self.system.find_equilibrium()

        linsys = linearisation.LinearisedSystem(self.system)
        return linsys

    def ani(self, vs=(0,1), t=None, y=None):
        if t is None: t = self.t
        if y is None: y = self.y
        limits = [(-10,10), (-42,42), (-5,110)]
        return dynvis.anim(self.system, t, y, vs, limits[vs[0]], limits[vs[1]])

Example #19

File: test-rotor-frequencies-modal-hinged.py Project: zhaoweisonake/mbwind

    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.modes = ModalRepresentation.from_Bladed(mode_source_file)

        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.istrain, vel=0.0, acc=0.0)

        # setup integrator
        self.integ = Integrator(self.system, ('pos', 'vel'))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(
                dynamics.CustomOutput(lambda s: b.station_positions()[-1],
                                      label="{} tip defl".format(b)))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(
                dynamics.CustomOutput(lambda s: dot(b.Rp,
                                                    b.station_positions()[-1]),
                                      label="{} tip pos".format(b)))

Example #20

File: turbine.py Project: zhaoweisonake/mbwind

class Turbine(object):
    def __init__(self, bladed_file, root_length=0, rigid=False):
        # Modal element using data from Bladed model
        print "Loading modes from '%s'..." % bladed_file
        self.blade = Blade(bladed_file)
        self.tower = Tower(bladed_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.base = FreeJoint('base')
        self.towerlink = RigidConnection('tower', [0, 0, self.tower.hubheight])
        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.base.add_leaf(self.towerlink)
        self.towerlink.add_leaf(self.bearing)
        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.base)

        # Prescribed DOF accelerations - constant rotor speed
        self.base_motion = None
        self.base_motion_amp = 0
        self.system.prescribe(self.bearing, vel=0)
        self.system.prescribe(self.base, vel=0)
        if rigid:
            for b in (self.blade1, self.blade2, self.blade3):
                self.system.prescribe(b, vel=0)

        # setup integrator
        self.integ = Integrator(self.system, ('pos', 'vel', 'acc'))
        self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
        self.integ.add_output(
            dynamics.LoadOutput(self.bearing.iprox, local=True))
        self.integ.add_output(
            dynamics.LoadOutput(self.bearing.idist[0], local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_deflections())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_positions())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(
                dynamics.NodeOutput(b.iprox, local=True, deriv=2))

    def set_base_motion(self, dof, w, amp):
        self.base_motion = dof
        self.base_motion_amp = amp
        self.system.prescribe(self.base,
                              part=dof,
                              vel=lambda t: -w * amp * np.sin(w * t),
                              acc=lambda t: -w**2 * amp * np.cos(w * t))

    def set_initial_conditions(self, qm0=None, az0=None, rotor_speed=None):
        # 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
        if az0 is not None:
            self.system.q[self.bearing.istrain][0] = az0
        if self.base_motion is not None:
            self.system.q[self.base.istrain][
                self.base_motion] = self.base_motion_amp
        if rotor_speed is not None:
            self.system.prescribe(self.bearing, vel=rotor_speed)

    def simulate(self,
                 qm0=None,
                 az0=0.0,
                 rotor_speed=10.0,
                 t1=None,
                 dt=0.01,
                 t0=0.0,
                 init=False):
        # reset
        self.system.q[:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)

        if t1 is None:
            t1 = 4 * pi / rotor_speed if (rotor_speed != 0.0) else 2

        if init:
            self.system.find_equilibrium()

        # simulate
        t, y = self.integ.integrate(t1, dt, t0)
        #for i,lab in enumerate(self.integ.labels):
        #    print "%2d  %s" % (i,lab)
        #return self.t, self.y

        # Build results structure
        results = TurbineResults(t, y, self.modes.mode_names)
        return results

    def lin(self, qm0=None, az0=None, rotor_speed=None, init=False):
        # reset
        self.system.q[:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)

        if init:
            self.system.find_equilibrium()

        # need initial amplitudes for linearisation point
        if qm0 is None:
            qm0 = self.system.q[self.blade1.istrain]
        linsys = linearisation.LinearisedSystem(self.system, np.tile(qm0, 3))
        return linsys

    def ani(self, results, x=0, y=1):
        H = self.tower.hubheight + self.blade.radii[-1]
        limits = [(-H, H), (-H, H), (-5, H + 5)]
        return dynvis.anim(self.system, results.t, results.strains.as_matrix(),
                           (x, y), limits[x], limits[y])

Example #21

File: turbine.py Project: ricklupton/mbwind

class Turbine(object):
    def __init__(self, bladed_file, root_length=0, rigid=False):
        # Modal element using data from Bladed model
        print "Loading modes from '%s'..." % bladed_file
        self.blade = Blade(bladed_file)
        self.tower = Tower(bladed_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.base = FreeJoint('base')
        self.towerlink = RigidConnection('tower', [0,0,self.tower.hubheight])
        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.base.add_leaf(self.towerlink)
        self.towerlink.add_leaf(self.bearing)
        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.base)

        # Prescribed DOF accelerations - constant rotor speed
        self.base_motion = None
        self.base_motion_amp = 0
        self.system.prescribe(self.bearing, vel=0)
        self.system.prescribe(self.base, vel=0)
        if rigid:
            for b in (self.blade1, self.blade2, self.blade3):
                self.system.prescribe(b, vel=0)
        
        # setup integrator
        self.integ = Integrator(self.system, ('pos','vel','acc'))
        self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox, local=True))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.idist[0], local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_deflections())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_positions())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.NodeOutput(b.iprox, local=True, deriv=2))

    def set_base_motion(self, dof, w, amp):
        self.base_motion = dof
        self.base_motion_amp = amp
        self.system.prescribe(self.base, part=dof,
                              vel=lambda t: -w   *amp*np.sin(w*t),
                              acc=lambda t: -w**2*amp*np.cos(w*t))

    def set_initial_conditions(self, qm0=None, az0=None, rotor_speed=None):
        # 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
        if az0 is not None:
            self.system.q[self.bearing.istrain][0] = az0
        if self.base_motion is not None:
            self.system.q[self.base.istrain][self.base_motion] = self.base_motion_amp
        if rotor_speed is not None:
            self.system.prescribe(self.bearing, vel=rotor_speed)

    def simulate(self, qm0=None, az0=0.0, rotor_speed=10.0, t1=None,
                 dt=0.01, t0=0.0, init=False):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)
        
        if t1 is None:
            t1 = 4*pi/rotor_speed if (rotor_speed != 0.0) else 2
        
        if init:
            self.system.find_equilibrium()
        
        # simulate
        t,y = self.integ.integrate(t1, dt, t0)
        #for i,lab in enumerate(self.integ.labels):
        #    print "%2d  %s" % (i,lab)
        #return self.t, self.y
        
        # Build results structure
        results = TurbineResults(t, y, self.modes.mode_names)
        return results
    
    def lin(self, qm0=None, az0=None, rotor_speed=None, init=False):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)
        
        if init:
            self.system.find_equilibrium()
            
        # need initial amplitudes for linearisation point
        if qm0 is None: 
            qm0 = self.system.q[self.blade1.istrain]
        linsys = linearisation.LinearisedSystem(self.system, np.tile(qm0, 3))
        return linsys

    def ani(self, results, x=0, y=1):
        H = self.tower.hubheight + self.blade.radii[-1]
        limits = [(-H,H), (-H,H), (-5,H+5)]
        return dynvis.anim(self.system, results.t, results.strains.as_matrix(),
                           (x, y), limits[x], limits[y])

Example #22

File: test-rotor-frequencies-modal-3blade.py Project: zhaoweisonake/mbwind

    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())

Example #23

File: turbine.py Project: zhaoweisonake/mbwind

    def __init__(self, bladed_file, root_length=0):
        # Load modes but use a simple flapped blade
        print "Loading modes from '%s'..." % bladed_file
        self.blade = Blade(bladed_file)
        self.tower = Tower(bladed_file)
        self.modes = self.blade.modal_rep()

        # Calculate equivalent blade properties
        I1 = self.modes.I0[0]
        I2 = self.modes.J0[0, 0]
        print I1, I2
        wflap = self.modes.freqs[0]
        bmass = self.modes.mass
        inertia = self.modes.inertia_tensor(np.zeros(len(self.modes.freqs)))
        Xc = [I1 / bmass, 0, 0]
        kflap = I2 * wflap**2

        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.base = FreeJoint('base')
        self.towerlink = RigidConnection('tower', [0, 0, self.tower.hubheight])
        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.flap1 = Hinge('flap1', [0, 1, 0])
        self.flap2 = Hinge('flap2', [0, 1, 0])
        self.flap3 = Hinge('flap3', [0, 1, 0])
        self.blade1 = RigidBody('blade1', bmass, inertia, Xc)
        self.blade2 = RigidBody('blade2', bmass, inertia, Xc)
        self.blade3 = RigidBody('blade3', bmass, inertia, Xc)

        self.flap1.stiffness = self.flap2.stiffness = self.flap3.stiffness = kflap

        self.base.add_leaf(self.towerlink)
        self.towerlink.add_leaf(self.bearing)
        self.bearing.add_leaf(root1)
        self.bearing.add_leaf(root2)
        self.bearing.add_leaf(root3)
        root1.add_leaf(self.flap1)
        root2.add_leaf(self.flap2)
        root3.add_leaf(self.flap3)
        self.flap1.add_leaf(self.blade1)
        self.flap2.add_leaf(self.blade2)
        self.flap3.add_leaf(self.blade3)
        self.system = System(self.base)

        # Prescribed DOF accelerations - constant rotor speed
        self.base_motion = None
        self.base_motion_amp = 0
        self.system.prescribe(self.bearing, vel=0)
        self.system.prescribe(self.base, vel=0)

        # setup integrator
        self.integ = Integrator(self.system, ('pos', 'vel', 'acc'))
        self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
        self.integ.add_output(
            dynamics.LoadOutput(self.bearing.iprox, local=True))
        self.integ.add_output(
            dynamics.LoadOutput(self.bearing.idist[0], local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(
                dynamics.NodeOutput(b.iprox, local=True, deriv=2))

Example #24

class Gyroscope(object):
    def __init__(self, length, radius, mass, spin, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.spin = spin
        self.endmass = endmass

        Jz = radius**2 / 2
        Jxy = (3 * radius**2 + length**2) / 12
        inertia = mass * np.diag([Jxy, Jxy, Jz])

        self.bearing = Hinge('bearing', [0, 0, 1])
        self.pivot = Hinge('pivot', [0, 1, 0])
        self.axis = Hinge('axis', [0, 0, 1])
        self.body = RigidBody('body', mass, inertia)
        self.offset = RigidConnection('offset', [0, 0, length / 2])
        self.endbody = RigidBody('end', endmass)

        self.bearing.add_leaf(self.pivot)
        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.body)
        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0)  # constant rotational speed

    def simulate(self, xpivot=0.0, vprec=0.0, t1=10, dt=0.05):
        # reset
        self.system.q[:] = 0.0
        self.system.qd[:] = 0.0

        # initial conditions
        self.system.q[self.pivot.istrain][0] = xpivot  # initial elevation
        self.system.qd[self.bearing.istrain][0] = vprec  # initial azimuth spd
        self.system.qd[
            self.axis.istrain][0] = self.spin  # initial rotation speed

        self.integ = Integrator(self.system, ('pos', 'vel'))
        self.integ.add_output(dynamics.LoadOutput(self.axis.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.pivot.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox))
        #integ.add_output(dynamics.CustomOutput(
        #    lambda s: np.dot(self.axis.mass_vv, self.system.qdd[el.iprox+el.idist]) + \
        #              np.dot(el.mass_ve, self.system.qdd[el.istrain])))

        # simulate
        if t1 > 0:
            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 ani(self, vs=1):
        l = self.length * 1.1
        return dynvis.anim(self.system,
                           self.t,
                           self.y, (0, vs), (-l, l), (-l, l),
                           velocities=False)

Example #25

File: test-gyroscope-constrained.py Project: ricklupton/mbwind

class Gyroscope(object):
    def __init__(self, length, radius, mass, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.endmass = endmass

        Jz = radius**2 / 2
        Jxy = (3*radius**2 + length**2) / 12
        inertia = mass * np.diag([Jxy, Jxy, Jz])

        self.A = mass*Jxy + endmass*(length/2)**2
        self.C = mass*Jz

        self.pivot   = Hinge('pivot',   [0,1,0])
        self.axis    = Hinge('axis',    [0,0,1])
        self.body    = RigidBody('body', mass, inertia)
        self.offset  = RigidConnection('offset', [0,0,length/2])
        self.endbody = RigidBody('end', endmass)

        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.body)
        
        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)

        self.system = System(self.pivot)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0) # constant rotational speed

    def applied_torque(self, s):
        # applied torque about y axis, Q2
        elevation = s.q[self.pivot.istrain][0]
        return self.endmass * dynamics.gravity * self.length/2 * np.sin(elevation)
    
    def thetadotdot(self, s):
        # acceleration about y axis, thetadotdot
        Q2 = self.applied_torque(s)
        return Q2 / self.A
    
    def gyro_torque(self, s):
        # gyroscopic sideways torque, Q1
        spin = s.qd[self.axis.istrain][0] # spin speed
        thetadot = s.qd[self.pivot.istrain][0]
        return self.C * spin * thetadot
        
    def simulate(self, xpivot=0.0, spin=10.0, t1=1.5, dt=0.01):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0

        # initial conditions
        self.system.q [self.pivot.istrain][0] = xpivot # initial elevation
        self.system.qd[self.axis .istrain][0] = spin # initial rotation speed

        # setup integrator
        #self.integ = Integrator(self.system, ('pos','vel','acc'))
        self.integ = Integrator(self.system, ())
        for istrain in (self.pivot.istrain, self.axis.istrain):
            self.integ.add_output(dynamics.StrainOutput(istrain, deriv=0))
            self.integ.add_output(dynamics.StrainOutput(istrain, deriv=1))
            self.integ.add_output(dynamics.StrainOutput(istrain, deriv=2))
        self.integ.add_output(dynamics.LoadOutput(self.pivot.idist[0]))
        self.integ.add_output(dynamics.LoadOutput(self.pivot.idist[0], local=True))
        self.integ.add_output(dynamics.LoadOutput(self.body.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.endbody.iprox))
        self.integ.add_output(dynamics.CustomOutput(self.applied_torque, "Q2"))
        self.integ.add_output(dynamics.CustomOutput(self.thetadotdot, "thetadotdot"))
        self.integ.add_output(dynamics.CustomOutput(self.gyro_torque, "Q1"))

        # simulate
        if t1 > 0:
            self.t,self.y = self.integ.integrate(t1, dt)

    def ani(self, vs=1):
        l = self.length * 1.1
        return dynvis.anim(self.system, self.t, self.y,
                           (0,vs), (-l,l), (-l,l), velocities=False, only_free=True)

Example #26

overhang = 0.8
r_root = 0.5
blade_length = 60.0

EIy = 1000e6
EIz = 1000e6

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)

fstiff = 1e6 * diag([1, 1, 5, 1000, 1000, 100])
foundation = FreeJoint('foundation', fstiff, post_transform=rotmat_y(-pi/2))
tower = EulerBeam('tower', tower_height, 3000, 100e6, 300e6, 300e6, 200e6)
nacelle = RigidConnection('nacelle', [0,0,overhang], rotmat_y(100*pi/180))
bearing = Hinge('bearing', [1,0,0])
hb1 = RigidConnection('hb1', np.dot(Rhb1,[0,0,1]), np.dot(Rhb1,Ry))
hb2 = RigidConnection('hb2', np.dot(Rhb2,[0,0,1]), np.dot(Rhb2,Ry))
hb3 = RigidConnection('hb3', np.dot(Rhb3,[0,0,1]), np.dot(Rhb3,Ry))
b1 = EulerBeam('b1',blade_length, 250, 1000e6, EIy, EIz, 200e6)
b2 = EulerBeam('b2',blade_length, 250, 1000e6, EIy, EIz, 200e6)
b3 = EulerBeam('b3',blade_length, 250, 1000e6, EIy, EIz, 200e6)

tower.damping = 0.05

foundation.add_leaf(tower)
tower.add_leaf(nacelle)
nacelle.add_leaf(bearing)
bearing.add_leaf(hb1)
bearing.add_leaf(hb2)

Example #27

class Gyroscope(object):
    def __init__(self, length, radius, mass, endmass):
        self.length = length
        self.radius = radius
        self.mass = mass
        self.endmass = endmass

        Jz = radius**2 / 2
        Jxy = (3 * radius**2 + length**2) / 12
        inertia = mass * np.diag([Jxy, Jxy, Jz])

        self.A = mass * Jxy + endmass * (length / 2)**2
        self.C = mass * Jz

        self.pivot = Hinge('pivot', [0, 1, 0])
        self.axis = Hinge('axis', [0, 0, 1])
        self.body = RigidBody('body', mass, inertia)
        self.offset = RigidConnection('offset', [0, 0, length / 2])
        self.endbody = RigidBody('end', endmass)

        self.pivot.add_leaf(self.axis)
        self.axis.add_leaf(self.body)

        self.pivot.add_leaf(self.offset)
        self.offset.add_leaf(self.endbody)

        self.system = System(self.pivot)

        # Prescribed DOF accelerations
        self.system.prescribe(self.axis, acc=0.0)  # constant rotational speed

    def applied_torque(self, s):
        # applied torque about y axis, Q2
        elevation = s.q[self.pivot.istrain][0]
        return self.endmass * dynamics.gravity * self.length / 2 * np.sin(
            elevation)

    def thetadotdot(self, s):
        # acceleration about y axis, thetadotdot
        Q2 = self.applied_torque(s)
        return Q2 / self.A

    def gyro_torque(self, s):
        # gyroscopic sideways torque, Q1
        spin = s.qd[self.axis.istrain][0]  # spin speed
        thetadot = s.qd[self.pivot.istrain][0]
        return self.C * spin * thetadot

    def simulate(self, xpivot=0.0, spin=10.0, t1=1.5, dt=0.01):
        # reset
        self.system.q[:] = 0.0
        self.system.qd[:] = 0.0

        # initial conditions
        self.system.q[self.pivot.istrain][0] = xpivot  # initial elevation
        self.system.qd[self.axis.istrain][0] = spin  # initial rotation speed

        # setup integrator
        #self.integ = Integrator(self.system, ('pos','vel','acc'))
        self.integ = Integrator(self.system, ())
        for istrain in (self.pivot.istrain, self.axis.istrain):
            self.integ.add_output(dynamics.StrainOutput(istrain, deriv=0))
            self.integ.add_output(dynamics.StrainOutput(istrain, deriv=1))
            self.integ.add_output(dynamics.StrainOutput(istrain, deriv=2))
        self.integ.add_output(dynamics.LoadOutput(self.pivot.idist[0]))
        self.integ.add_output(
            dynamics.LoadOutput(self.pivot.idist[0], local=True))
        self.integ.add_output(dynamics.LoadOutput(self.body.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.endbody.iprox))
        self.integ.add_output(dynamics.CustomOutput(self.applied_torque, "Q2"))
        self.integ.add_output(
            dynamics.CustomOutput(self.thetadotdot, "thetadotdot"))
        self.integ.add_output(dynamics.CustomOutput(self.gyro_torque, "Q1"))

        # simulate
        if t1 > 0:
            self.t, self.y = self.integ.integrate(t1, dt)

    def ani(self, vs=1):
        l = self.length * 1.1
        return dynvis.anim(self.system,
                           self.t,
                           self.y, (0, vs), (-l, l), (-l, l),
                           velocities=False,
                           only_free=True)

Example #28

File: turbine.py Project: zhaoweisonake/mbwind

class FlappedBladeTurbine(object):
    def __init__(self, bladed_file, root_length=0):
        # Load modes but use a simple flapped blade
        print "Loading modes from '%s'..." % bladed_file
        self.blade = Blade(bladed_file)
        self.tower = Tower(bladed_file)
        self.modes = self.blade.modal_rep()

        # Calculate equivalent blade properties
        I1 = self.modes.I0[0]
        I2 = self.modes.J0[0, 0]
        print I1, I2
        wflap = self.modes.freqs[0]
        bmass = self.modes.mass
        inertia = self.modes.inertia_tensor(np.zeros(len(self.modes.freqs)))
        Xc = [I1 / bmass, 0, 0]
        kflap = I2 * wflap**2

        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.base = FreeJoint('base')
        self.towerlink = RigidConnection('tower', [0, 0, self.tower.hubheight])
        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.flap1 = Hinge('flap1', [0, 1, 0])
        self.flap2 = Hinge('flap2', [0, 1, 0])
        self.flap3 = Hinge('flap3', [0, 1, 0])
        self.blade1 = RigidBody('blade1', bmass, inertia, Xc)
        self.blade2 = RigidBody('blade2', bmass, inertia, Xc)
        self.blade3 = RigidBody('blade3', bmass, inertia, Xc)

        self.flap1.stiffness = self.flap2.stiffness = self.flap3.stiffness = kflap

        self.base.add_leaf(self.towerlink)
        self.towerlink.add_leaf(self.bearing)
        self.bearing.add_leaf(root1)
        self.bearing.add_leaf(root2)
        self.bearing.add_leaf(root3)
        root1.add_leaf(self.flap1)
        root2.add_leaf(self.flap2)
        root3.add_leaf(self.flap3)
        self.flap1.add_leaf(self.blade1)
        self.flap2.add_leaf(self.blade2)
        self.flap3.add_leaf(self.blade3)
        self.system = System(self.base)

        # Prescribed DOF accelerations - constant rotor speed
        self.base_motion = None
        self.base_motion_amp = 0
        self.system.prescribe(self.bearing, vel=0)
        self.system.prescribe(self.base, vel=0)

        # setup integrator
        self.integ = Integrator(self.system, ('pos', 'vel', 'acc'))
        self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
        self.integ.add_output(
            dynamics.LoadOutput(self.bearing.iprox, local=True))
        self.integ.add_output(
            dynamics.LoadOutput(self.bearing.idist[0], local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(
                dynamics.NodeOutput(b.iprox, local=True, deriv=2))

    def set_base_motion(self, dof, w, amp):
        self.base_motion = dof
        self.base_motion_amp = amp
        self.system.prescribe(self.base,
                              part=dof,
                              vel=lambda t: -w * amp * np.sin(w * t),
                              acc=lambda t: -w**2 * amp * np.cos(w * t))

    def set_initial_conditions(self, qm0=None, az0=None, rotor_speed=None):
        # initial conditions
        if qm0 is not None:  # initial hinge angle
            self.system.q[self.flap1.istrain][0] = qm0
            self.system.q[self.flap2.istrain][0] = qm0
            self.system.q[self.flap3.istrain][0] = qm0
        if az0 is not None:
            self.system.q[self.bearing.istrain][0] = az0
        if self.base_motion is not None:
            self.system.q[self.base.istrain][
                self.base_motion] = self.base_motion_amp
        if rotor_speed is not None:
            self.system.prescribe(self.bearing, vel=rotor_speed)

    def simulate(self,
                 qm0=None,
                 az0=0.0,
                 rotor_speed=10.0,
                 t1=None,
                 dt=0.01,
                 t0=0.0,
                 init=False):
        # reset
        self.system.q[:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)

        if t1 is None:
            t1 = 4 * pi / rotor_speed if (rotor_speed != 0.0) else 2

        if init:
            self.system.find_equilibrium()

        # simulate
        t, y = self.integ.integrate(t1, dt, t0)
        #for i,lab in enumerate(self.integ.labels):
        #    print "%2d  %s" % (i,lab)
        #return self.t, self.y

        # Build results structure
        results = FlappedTurbineResults(t, y)
        return results

    def lin(self, qm0=None, az0=None, rotor_speed=None, init=False):
        # reset
        self.system.q[:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)

        if init:
            self.system.find_equilibrium()

        # need initial amplitudes for linearisation point
        if qm0 is None:
            qm0 = self.system.q[self.blade1.istrain]
        linsys = linearisation.LinearisedSystem(self.system, np.tile(qm0, 3))
        return linsys

    def ani(self, results, x=0, y=1):
        H = self.tower.hubheight + self.blade.radii[-1]
        limits = [(-H, H), (-H, H), (-5, H + 5)]
        return dynvis.anim(self.system, results.t, results.strains.as_matrix(),
                           (x, y), limits[x], limits[y])

Example #29

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.modes = ModalRepresentation.from_Bladed(mode_source_file)

        self.bearing = Hinge('bearing', [0, 0, 1])
        self.offset = RigidConnection('offset', [root_length, 0, 0])
        self.blade = ModalElement('blade', self.modes)
        self.bearing.add_leaf(self.offset)
        self.offset.add_leaf(self.blade)
        self.system = System(self.bearing)

        # Prescribed DOF accelerations
        self.system.prescribe(self.bearing.istrain, vel=0.0,
                              acc=0.0)  # constant spin speed

    def simulate(self, qm0, spin=10.0, t1=1.5, dt=0.01):
        # reset
        self.system.q[:] = 0.0
        self.system.qd[:] = 0.0

        # initial conditions
        self.system.q[self.blade.istrain] = qm0  # initial modal amplitudes
        self.system.prescribe(self.bearing.istrain, vel=spin,
                              acc=0.0)  #acc=spin/t1)

        # 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.blade.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.blade.iprox,
                                                  local=True))
        self.integ.add_output(
            dynamics.CustomOutput(lambda s: self.blade.station_positions()[-1],
                                  label="Tip pos"))
        self.integ.add_output(
            dynamics.CustomOutput(lambda s: self.blade.quad_stress,
                                  label="Quad stress"))

        # simulate
        self.t, self.y = self.integ.integrate(t1, dt)
        return self.t, self.y

    def lin(self, qm0, spin=10.0):
        # reset
        self.system.q[:] = 0.0
        self.system.qd[:] = 0.0

        # initial conditions
        self.system.q[self.blade.istrain] = qm0  # initial modal amplitudes
        self.system.prescribe(self.bearing.istrain, vel=spin,
                              acc=0.0)  # constant speed

        linsys = linearisation.LinearisedSystem(self.system, qm0)
        return linsys

    def ani(self, vs=1):
        l = 40
        return dynvis.anim(self.system,
                           self.t,
                           self.y, (0, vs), (-l, l), (-l, l),
                           velocities=False,
                           only_free=True)

Example #30

# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(bladed_path)
thrust = brun.get('rotating hub Fx')
bladed_defl = np.c_[brun.get('Nacelle fore-aft displacement'),
                    brun.get('Nacelle nod angle'), ]

#loading = PointLoading(blade, wind_table, None)
thrust_time = [0, 1, 2, 10]
thrust_force = [0, 0, 10e3, 10e3]
thrust = np.c_[thrust_force, np.zeros((4, 2))].T
loadfunc = scipy.interpolate.interp1d(thrust_time, thrust)

# Modal element
base = RigidConnection('base', rotation=rotmat_y(-np.pi / 2))
el = ModalElement('el', modes, distal=True, damping_freqs=[8.269, 10.248])
rna = RigidBody('rna',
                24000,
                np.diag([6400003, 6400003, 4266667]),
                nodal_load=loadfunc)
base.add_leaf(el)
el.add_leaf(rna)
system = System(base)

integ = Integrator(system)
integ.add_output(el.output_deflections())
integ.add_output(el.output_rotations())
integ.add_output(dynamics.LoadOutput(rna.iprox))

linsys = LinearisedSystem(system)

Example #31

File: test-modal-blade-gyro-effects.py Project: ricklupton/mbwind

import dynvis

dynamics.gravity = 0

bladedpath = '/bladed/gyro_effects/simpleblade_10rpm_10degs'

# Modal element using data from Bladed model
print "Loading modes from '%s'..." % bladedpath
modes = ModalRepresentation.from_Bladed(bladedpath+'.$pj')

rotorspeed = 10 * np.pi/30 # 10 rpm
overhang = 1 # 1m

# Modal element
yaw = Hinge('yaw', [0,0,1])
overhang = RigidConnection('overhang', [-overhang,0,0])
bearing = Hinge('bearing', [1,0,0],np.dot(rotmat_y(-np.pi/2), rotmat_x(-np.pi/2)))
el = ModalElement('el', modes)
yaw.add_leaf(overhang)
overhang.add_leaf(bearing)
bearing.add_leaf(el)
system = System(yaw)

# Prescribe rotation speed
system.prescribe(bearing.istrain, 0.0)
system.qd[bearing.istrain] = rotorspeed

# Prescribed yaw angle
acc_period = 0.1
yaw_time1 = 3.0
yaw_time2 = 6.0

Example #32

File: turbine.py Project: ricklupton/mbwind

class FlappedBladeTurbine(object):
    def __init__(self, bladed_file, root_length=0):
        # Load modes but use a simple flapped blade
        print "Loading modes from '%s'..." % bladed_file
        self.blade = Blade(bladed_file)
        self.tower = Tower(bladed_file)
        self.modes = self.blade.modal_rep()

        # Calculate equivalent blade properties
        I1 = self.modes.I0[0]
        I2 = self.modes.J0[0,0]
        print I1, I2
        wflap = self.modes.freqs[0]
        bmass = self.modes.mass
        inertia = self.modes.inertia_tensor(np.zeros(len(self.modes.freqs)))
        Xc = [I1 / bmass, 0, 0]
        kflap = I2 * wflap**2

        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.base = FreeJoint('base')
        self.towerlink = RigidConnection('tower', [0,0,self.tower.hubheight])
        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.flap1 = Hinge('flap1', [0,1,0])
        self.flap2 = Hinge('flap2', [0,1,0])
        self.flap3 = Hinge('flap3', [0,1,0])
        self.blade1 = RigidBody('blade1', bmass, inertia, Xc)
        self.blade2 = RigidBody('blade2', bmass, inertia, Xc)
        self.blade3 = RigidBody('blade3', bmass, inertia, Xc)
        
        self.flap1.stiffness = self.flap2.stiffness = self.flap3.stiffness = kflap
        
        self.base.add_leaf(self.towerlink)
        self.towerlink.add_leaf(self.bearing)
        self.bearing.add_leaf(root1)
        self.bearing.add_leaf(root2)
        self.bearing.add_leaf(root3)
        root1.add_leaf(self.flap1)
        root2.add_leaf(self.flap2)
        root3.add_leaf(self.flap3)
        self.flap1.add_leaf(self.blade1)
        self.flap2.add_leaf(self.blade2)
        self.flap3.add_leaf(self.blade3)
        self.system = System(self.base)

        # Prescribed DOF accelerations - constant rotor speed
        self.base_motion = None
        self.base_motion_amp = 0
        self.system.prescribe(self.bearing, vel=0)
        self.system.prescribe(self.base, vel=0)
        
        # setup integrator
        self.integ = Integrator(self.system, ('pos','vel','acc'))
        self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox, local=True))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.idist[0], local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.NodeOutput(b.iprox, local=True, deriv=2))

    def set_base_motion(self, dof, w, amp):
        self.base_motion = dof
        self.base_motion_amp = amp
        self.system.prescribe(self.base, part=dof,
                              vel=lambda t: -w   *amp*np.sin(w*t),
                              acc=lambda t: -w**2*amp*np.cos(w*t))

    def set_initial_conditions(self, qm0=None, az0=None, rotor_speed=None):
        # initial conditions
        if qm0 is not None:  # initial hinge angle
            self.system.q[self.flap1.istrain][0] = qm0
            self.system.q[self.flap2.istrain][0] = qm0
            self.system.q[self.flap3.istrain][0] = qm0
        if az0 is not None:
            self.system.q[self.bearing.istrain][0] = az0
        if self.base_motion is not None:
            self.system.q[self.base.istrain][self.base_motion] = self.base_motion_amp
        if rotor_speed is not None:
            self.system.prescribe(self.bearing, vel=rotor_speed)

    def simulate(self, qm0=None, az0=0.0, rotor_speed=10.0, t1=None,
                 dt=0.01, t0=0.0, init=False):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)
        
        if t1 is None:
            t1 = 4*pi/rotor_speed if (rotor_speed != 0.0) else 2
        
        if init:
            self.system.find_equilibrium()
        
        # simulate
        t,y = self.integ.integrate(t1, dt, t0)
        #for i,lab in enumerate(self.integ.labels):
        #    print "%2d  %s" % (i,lab)
        #return self.t, self.y
        
        # Build results structure
        results = FlappedTurbineResults(t, y)
        return results
    
    def lin(self, qm0=None, az0=None, rotor_speed=None, init=False):
        # reset
        self.system.q [:] = 0.0
        self.system.qd[:] = 0.0
        self.set_initial_conditions(qm0, az0, rotor_speed)
        
        if init:
            self.system.find_equilibrium()
            
        # need initial amplitudes for linearisation point
        if qm0 is None: 
            qm0 = self.system.q[self.blade1.istrain]
        linsys = linearisation.LinearisedSystem(self.system, np.tile(qm0, 3))
        return linsys

    def ani(self, results, x=0, y=1):
        H = self.tower.hubheight + self.blade.radii[-1]
        limits = [(-H,H), (-H,H), (-5,H+5)]
        return dynvis.anim(self.system, results.t, results.strains.as_matrix(),
                           (x, y), limits[x], limits[y])
                           

Example #33

File: turbine.py Project: ricklupton/mbwind

    def __init__(self, bladed_file, root_length=0):
        # Load modes but use a simple flapped blade
        print "Loading modes from '%s'..." % bladed_file
        self.blade = Blade(bladed_file)
        self.tower = Tower(bladed_file)
        self.modes = self.blade.modal_rep()

        # Calculate equivalent blade properties
        I1 = self.modes.I0[0]
        I2 = self.modes.J0[0,0]
        print I1, I2
        wflap = self.modes.freqs[0]
        bmass = self.modes.mass
        inertia = self.modes.inertia_tensor(np.zeros(len(self.modes.freqs)))
        Xc = [I1 / bmass, 0, 0]
        kflap = I2 * wflap**2

        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.base = FreeJoint('base')
        self.towerlink = RigidConnection('tower', [0,0,self.tower.hubheight])
        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.flap1 = Hinge('flap1', [0,1,0])
        self.flap2 = Hinge('flap2', [0,1,0])
        self.flap3 = Hinge('flap3', [0,1,0])
        self.blade1 = RigidBody('blade1', bmass, inertia, Xc)
        self.blade2 = RigidBody('blade2', bmass, inertia, Xc)
        self.blade3 = RigidBody('blade3', bmass, inertia, Xc)
        
        self.flap1.stiffness = self.flap2.stiffness = self.flap3.stiffness = kflap
        
        self.base.add_leaf(self.towerlink)
        self.towerlink.add_leaf(self.bearing)
        self.bearing.add_leaf(root1)
        self.bearing.add_leaf(root2)
        self.bearing.add_leaf(root3)
        root1.add_leaf(self.flap1)
        root2.add_leaf(self.flap2)
        root3.add_leaf(self.flap3)
        self.flap1.add_leaf(self.blade1)
        self.flap2.add_leaf(self.blade2)
        self.flap3.add_leaf(self.blade3)
        self.system = System(self.base)

        # Prescribed DOF accelerations - constant rotor speed
        self.base_motion = None
        self.base_motion_amp = 0
        self.system.prescribe(self.bearing, vel=0)
        self.system.prescribe(self.base, vel=0)
        
        # setup integrator
        self.integ = Integrator(self.system, ('pos','vel','acc'))
        self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox, local=True))
        self.integ.add_output(dynamics.LoadOutput(self.bearing.idist[0], local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.NodeOutput(b.iprox, local=True, deriv=2))

Example #34

File: turbine.py Project: zhaoweisonake/mbwind

    def __init__(self, bladed_file, root_length=0, rigid=False):
        # Modal element using data from Bladed model
        print "Loading modes from '%s'..." % bladed_file
        self.blade = Blade(bladed_file)
        self.tower = Tower(bladed_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.base = FreeJoint('base')
        self.towerlink = RigidConnection('tower', [0, 0, self.tower.hubheight])
        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.base.add_leaf(self.towerlink)
        self.towerlink.add_leaf(self.bearing)
        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.base)

        # Prescribed DOF accelerations - constant rotor speed
        self.base_motion = None
        self.base_motion_amp = 0
        self.system.prescribe(self.bearing, vel=0)
        self.system.prescribe(self.base, vel=0)
        if rigid:
            for b in (self.blade1, self.blade2, self.blade3):
                self.system.prescribe(b, vel=0)

        # setup integrator
        self.integ = Integrator(self.system, ('pos', 'vel', 'acc'))
        self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
        self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
        self.integ.add_output(
            dynamics.LoadOutput(self.bearing.iprox, local=True))
        self.integ.add_output(
            dynamics.LoadOutput(self.bearing.idist[0], local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_deflections())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(b.output_positions())
        for b in (self.blade1, self.blade2, self.blade3):
            self.integ.add_output(
                dynamics.NodeOutput(b.iprox, local=True, deriv=2))

Example #35

File: test-modal-tower-loading.py Project: ricklupton/mbwind

import pybladed.data
brun = pybladed.data.BladedRun(bladed_path)
thrust = brun.get('rotating hub Fx')
bladed_defl = np.c_[
    brun.get('Nacelle fore-aft displacement'),
    brun.get('Nacelle nod angle'),
]

#loading = PointLoading(blade, wind_table, None)
thrust_time  = [0, 1, 2,    10  ]
thrust_force = [0, 0, 10e3, 10e3]
thrust = np.c_[ thrust_force, np.zeros((4,2)) ].T
loadfunc = scipy.interpolate.interp1d(thrust_time, thrust)

# Modal element
base = RigidConnection('base', rotation=rotmat_y(-np.pi/2))
el = ModalElement('el', modes, distal=True, damping_freqs=[8.269, 10.248])
rna = RigidBody('rna', 24000, np.diag([6400003, 6400003, 4266667]), nodal_load=loadfunc)
base.add_leaf(el)
el.add_leaf(rna)
system = System(base)

integ = Integrator(system)
integ.add_output(el.output_deflections())
integ.add_output(el.output_rotations())
integ.add_output(dynamics.LoadOutput(rna.iprox))

linsys = LinearisedSystem(system)

def ani_xy(s,t,y):
    return dynvis.anim(s, t, y, (0,1), (-5,45), (-5,5), velocities=False)

Example #36

import dynvis

dynamics.gravity = 0

bladedpath = '/bladed/gyro_effects/simpleblade_10rpm_10degs'

# Modal element using data from Bladed model
print "Loading modes from '%s'..." % bladedpath
modes = ModalRepresentation.from_Bladed(bladedpath + '.$pj')

rotorspeed = 10 * np.pi / 30  # 10 rpm
overhang = 1  # 1m

# Modal element
yaw = Hinge('yaw', [0, 0, 1])
overhang = RigidConnection('overhang', [-overhang, 0, 0])
bearing = Hinge('bearing', [1, 0, 0],
                np.dot(rotmat_y(-np.pi / 2), rotmat_x(-np.pi / 2)))
el = ModalElement('el', modes)
yaw.add_leaf(overhang)
overhang.add_leaf(bearing)
bearing.add_leaf(el)
system = System(yaw)

# Prescribe rotation speed
system.prescribe(bearing.istrain, 0.0)
system.qd[bearing.istrain] = rotorspeed

# Prescribed yaw angle
acc_period = 0.1
yaw_time1 = 3.0