class Rotor(object): def __init__(self, mode_source_file, root_length=0): # Modal element using data from Bladed model print "Loading modes from '%s'..." % mode_source_file self.blade = Blade(mode_source_file) self.modes = self.blade.modal_rep() Ry = rotmat_y(-pi / 2) Rhb1 = rotmat_x(0 * 2 * pi / 3) Rhb2 = rotmat_x(1 * 2 * pi / 3) Rhb3 = rotmat_x(2 * 2 * pi / 3) self.bearing = Hinge('bearing', [1, 0, 0]) root1 = RigidConnection('root1', root_length * np.dot(Rhb1, [0, 0, 1]), dot(Rhb1, Ry)) root2 = RigidConnection('root2', root_length * np.dot(Rhb2, [0, 0, 1]), dot(Rhb2, Ry)) root3 = RigidConnection('root3', root_length * np.dot(Rhb3, [0, 0, 1]), dot(Rhb3, Ry)) self.blade1 = ModalElement('blade1', self.modes) self.blade2 = ModalElement('blade2', self.modes) self.blade3 = ModalElement('blade3', self.modes) self.bearing.add_leaf(root1) self.bearing.add_leaf(root2) self.bearing.add_leaf(root3) root1.add_leaf(self.blade1) root2.add_leaf(self.blade2) root3.add_leaf(self.blade3) self.system = System(self.bearing) # Prescribed DOF accelerations - constant rotor speed self.system.prescribe(self.bearing, acc=0.0) # setup integrator self.integ = Integrator(self.system, ('pos', 'vel')) self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox)) self.integ.add_output( dynamics.LoadOutput(self.blade1.iprox, local=True)) self.integ.add_output(self.blade1.output_deflections()) self.integ.add_output(self.blade1.output_positions()) def simulate(self, qm0=None, spin=10.0, t1=1.5, dt=0.01): # reset self.system.q[:] = 0.0 self.system.qd[:] = 0.0 # initial conditions if qm0 is not None: # initial modal amplitudes self.system.q[self.blade1.istrain] = qm0 self.system.q[self.blade2.istrain] = qm0 self.system.q[self.blade3.istrain] = qm0 self.system.qd[self.bearing.istrain][0] = spin # simulate self.t, self.y = self.integ.integrate(t1, dt) for i, lab in enumerate(self.integ.labels()): print "%2d %s" % (i, lab) return self.t, self.y def lin(self, qm0=None, spin=10.0): # reset self.system.q[:] = 0.0 self.system.qd[:] = 0.0 # initial conditions if qm0 is not None: # initial modal amplitudes self.system.q[self.blade1.istrain] = qm0 self.system.q[self.blade2.istrain] = qm0 self.system.q[self.blade3.istrain] = qm0 else: qm0 = np.zeros(self.blade1._nstrain * 3) self.system.prescribe(self.bearing, vel=spin, acc=0.0) self.system.qd[self.bearing.istrain][0] = spin linsys = linearisation.LinearisedSystem(self.system, qm0) return linsys def ani(self, t=None, y=None, planview=True): if t is None: t = self.t if y is None: y = self.y l = 40 if planview: return dynvis.anim(self.system, t, y, (1, 2), (-l, l), (-l, l)) else: return dynvis.anim(self.system, t, y, (0, 1), (-l, l), (-5, 5))
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]])
class Rotor(object): def __init__(self, mode_source_file, root_length=0): # Modal element using data from Bladed model print "Loading modes from '%s'..." % mode_source_file self.blade = Blade(mode_source_file) self.modes = self.blade.modal_rep() Ry = rotmat_y(-pi/2) Rhb1 = rotmat_x(0 * 2*pi/3) Rhb2 = rotmat_x(1 * 2*pi/3) Rhb3 = rotmat_x(2 * 2*pi/3) self.bearing = Hinge('bearing', [1,0,0]) root1 = RigidConnection('root1', root_length*np.dot(Rhb1,[0,0,1]), dot(Rhb1,Ry)) root2 = RigidConnection('root2', root_length*np.dot(Rhb2,[0,0,1]), dot(Rhb2,Ry)) root3 = RigidConnection('root3', root_length*np.dot(Rhb3,[0,0,1]), dot(Rhb3,Ry)) self.blade1 = ModalElement('blade1', self.modes) self.blade2 = ModalElement('blade2', self.modes) self.blade3 = ModalElement('blade3', self.modes) self.bearing.add_leaf(root1) self.bearing.add_leaf(root2) self.bearing.add_leaf(root3) root1.add_leaf(self.blade1) root2.add_leaf(self.blade2) root3.add_leaf(self.blade3) self.system = System(self.bearing) # Prescribed DOF accelerations - constant rotor speed self.system.prescribe(self.bearing, acc=0.0) # setup integrator self.integ = Integrator(self.system, ('pos','vel')) self.integ.add_output(dynamics.LoadOutput(self.bearing.iprox)) self.integ.add_output(dynamics.LoadOutput(self.blade1.iprox, local=True)) self.integ.add_output(self.blade1.output_deflections()) self.integ.add_output(self.blade1.output_positions()) def simulate(self, qm0=None, spin=10.0, t1=1.5, dt=0.01): # reset self.system.q [:] = 0.0 self.system.qd[:] = 0.0 # initial conditions if qm0 is not None: # initial modal amplitudes self.system.q[self.blade1.istrain] = qm0 self.system.q[self.blade2.istrain] = qm0 self.system.q[self.blade3.istrain] = qm0 self.system.qd[self.bearing.istrain][0] = spin # simulate self.t,self.y = self.integ.integrate(t1, dt) for i,lab in enumerate(self.integ.labels()): print "%2d %s" % (i,lab) return self.t, self.y def lin(self, qm0=None, spin=10.0): # reset self.system.q [:] = 0.0 self.system.qd[:] = 0.0 # initial conditions if qm0 is not None: # initial modal amplitudes self.system.q[self.blade1.istrain] = qm0 self.system.q[self.blade2.istrain] = qm0 self.system.q[self.blade3.istrain] = qm0 else: qm0 = np.zeros(self.blade1._nstrain * 3) self.system.prescribe(self.bearing, vel=spin, acc=0.0) self.system.qd[self.bearing.istrain][0] = spin linsys = linearisation.LinearisedSystem(self.system, qm0) return linsys def ani(self, t=None, y=None, planview=True): if t is None: t = self.t if y is None: y = self.y l = 40 if planview: return dynvis.anim(self.system, t, y, (1,2), (-l,l), (-l,l)) else: return dynvis.anim(self.system, t, y, (0,1), (-l,l), (-5,5))
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])
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])
import matplotlib.gridspec as gridspec import dynamics from dynamics import System, ModalElement, Integrator, RigidConnection, rotmat_y from blade import Blade from loading import BladeLoading import dynvis dynamics.OPT_GRAVITY = False bladed_path = '/bladed/blade_nrel/parked' # Modal element using data from Bladed model print "Loading blade from '%s'..." % bladed_path blade = Blade(bladed_path+'.$pj') modes = blade.modal_rep() # Blade loading wind_table = np.array([ [0, 1, 2, 10], # time [0, 0, 20, 20], # x [0, 0, 0, 0 ], # y [0, 0, 0, 0 ], # z ]) loading = BladeLoading(blade, wind_table, None) # Modal element base = RigidConnection('base', rotation=rotmat_y(-np.pi/2)) el = ModalElement('el', modes, loading) base.add_leaf(el) system = System(base)
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])
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])