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)
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)
acc_period = 0.1
yaw_time1 = 3.0
yaw_time2 = 6.0
dvyaw = 10 * np.pi/180
system.prescribe(yaw.istrain,
acc=lambda t: (t>=yaw_time1 and t<(yaw_time1+acc_period)) and dvyaw/acc_period or 0 +\
(t>yaw_time2 and t<=(yaw_time2+acc_period)) and -dvyaw/acc_period or 0)
system.find_equilibrium()
integ = Integrator(system, ())
integ.add_position_output(yaw.istrain, 'yaw position')
integ.add_velocity_output(yaw.istrain, 'yaw velocity')
integ.add_acceleration_output(yaw.istrain, 'yaw acceleration')
integ.add_acceleration_output(el.imult)
integ.add_force_output(bearing.idist, "root load")
integ.add_custom_output(lambda s: el.station_positions()[-1], 'tip pos')
integ.add_custom_output(lambda s: el.modes.X(el.xstrain)[-1,1:3], 'tip defl')
integ.add_custom_output(lambda s: el.quad_forces, 'quad_forces')
integ.add_custom_output(lambda s: el.quad_stress, 'quad_stress')
# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(bladedpath)
bladed_defl = np.c_[
brun.get('blade 1 x-deflection;4'),
brun.get('blade 1 y-deflection;4'),
brun.get('blade 1 x-position;4'),
brun.get('blade 1 y-position;4'),
brun.get('blade 1 z-position;4'),
brun.get('rotor azimuth'),
brun.get('nacelle yaw displacement'),
acc_period = 0.1
yaw_time1 = 3.0
yaw_time2 = 6.0
dvyaw = 10 * np.pi / 180
system.prescribe(yaw.istrain,
acc=lambda t: (t>=yaw_time1 and t<(yaw_time1+acc_period)) and dvyaw/acc_period or 0 +\
(t>yaw_time2 and t<=(yaw_time2+acc_period)) and -dvyaw/acc_period or 0)
system.find_equilibrium()
integ = Integrator(system, ())
integ.add_position_output(yaw.istrain, 'yaw position')
integ.add_velocity_output(yaw.istrain, 'yaw velocity')
integ.add_acceleration_output(yaw.istrain, 'yaw acceleration')
integ.add_acceleration_output(el.imult)
integ.add_force_output(bearing.idist, "root load")
integ.add_custom_output(lambda s: el.station_positions()[-1], 'tip pos')
integ.add_custom_output(lambda s: el.modes.X(el.xstrain)[-1, 1:3], 'tip defl')
integ.add_custom_output(lambda s: el.quad_forces, 'quad_forces')
integ.add_custom_output(lambda s: el.quad_stress, 'quad_stress')
# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(bladedpath)
bladed_defl = np.c_[brun.get('blade 1 x-deflection;4'),
brun.get('blade 1 y-deflection;4'),
brun.get('blade 1 x-position;4'),
brun.get('blade 1 y-position;4'),
brun.get('blade 1 z-position;4'),
brun.get('rotor azimuth'),
brun.get('nacelle yaw displacement'),
brun.get('blade 1 root Fz'),
