def load_environment(filename):
# load df from csv
params = pd.read_csv(filename)
params = params.iloc[0]
# create blade
airfoil_dir = params['airfoil_dir']
blade_shaft_dist = params['blade_shaft_dist']
blade_chord_length = params['blade_chord_length']
blade = vb.VawtBlade(blade_chord_length, airfoil_dir, blade_shaft_dist)
# create environment
wind_direction = params['wind_direction']
wind_speed = params['wind_speed']
rotor_speed = params['rotor_speed']
theta_resolution = params['theta_resolution']
pitch_resolution = params['pitch_resolution']
steps = params['steps']
tsr = params['tsr']
env = VawtRLEnvironment(blade,
wind_direction,
wind_speed,
rotor_speed,
theta_resolution,
pitch_resolution,
steps=steps)
return env
def __init__(self, joint_name, chord_length, height, offset, sa_radius,
airfoil_dir, op_interpolator_dir):
self.joint_name = joint_name
self.height = height
self.sa_radius = sa_radius
self.vb = vb.VawtBlade(chord_length, airfoil_dir, sa_radius)
self.opi = OptimalPathInterpolate(op_interpolator_dir)
self.offset = offset
self.pitch = 0
def __init__(self):
self.blades = [
# offset, pitch
{'offset':0, 'pitch':0},
{'offset':math.pi, 'pitch':0}
]
self.theta = 0
# airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360'
airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/naca0018_360'
self.blade = vb.VawtBlade(0.2, airfoil_dir, 1)
def test__rel_tang_angle(self):
airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/naca0018_360'
blade = vb.VawtBlade(0.2, airfoil_dir, 1)
# VECTORS rel_wind, blade_tangent_vector
test_values = [
[vec.Vector2(r=1, theta=1), vec.Vector2(r=1, theta=1.2), -0.2],
[vec.Vector2(r=1, theta=1), vec.Vector2(r=1, theta=1.2), -0.2]
]
for rel_wind, blade_tangent, rel_tang_angle in test_values:
self.assertAlmostEqual(blade._rel_tang_angle(rel_wind, blade_tangent), rel_tang_angle, 5, 'Wrong _rel_tang_angle')
def test_get_cl_cd_coeffs(self):
airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360'
blade = vb.VawtBlade(0.2, airfoil_dir, 1)
test_values = [
# aoa_360, re_number, cl, cd
[-78.00, 20000, -0.3640, 1.7268],
[26.00, 50000, 0.5911, 0.3391],
[176.00, 200000, -0.3291, 0.0145],
[-149.00, 1000000, 0.3591, 0.4565]
]
for tc in test_values:
cl, cd = blade.get_coeffs(tc[0], tc[1])
self.assertAlmostEqual(cl, tc[2], 5, 'Wrong cl coeff')
self.assertAlmostEqual(cd, tc[3], 5, 'Wrong cd coeff')
def test_angle_of_attack(self):
airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360'
blade = vb.VawtBlade(0.2, airfoil_dir, 1)
test_values = [
# rel_wind_vector, blade_chord_vector, aoa_rad, aoa_360
[vec.Vector2(r=1, theta=-2.356194490192345), vec.Vector2(r=1, theta=-1.5707963267948966), -0.785398163397, -45],
[vec.Vector2(r=1, theta=-1), vec.Vector2(r=1, theta=-0.0007162025873375634), -0.9992837974126625, -57.25474412755153],
[vec.Vector2(r=1, theta=0.1), vec.Vector2(r=1, theta=-2), 2.1, 120.3211369],
[vec.Vector2(r=1, theta=3), vec.Vector2(r=1, theta=-2), -1.28318530, -73.5211024]
]
for tc in test_values:
aoa_rad, aoa_360 = blade._angle_of_attack(tc[0], tc[1])
self.assertAlmostEqual(aoa_rad, tc[2], 5, 'Wrong aoa_rad')
self.assertAlmostEqual(aoa_360, tc[3], 5, 'Wrong aoa_360')
def test_airfoil_coeff_interpolataion(self):
blade = vb.VawtBlade(
0.2, '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360', 1)
test_values = [[20000, 10, 0.5611, 0.0918],
[20000, -121.00, 0.7944, 1.3225],
[100000, -175.00, 0.5238, 0.0192],
[100000, 78.00, 0.4203, 1.7694],
[500000, 27.00, 1.1704, 0.3691],
[500000, 111.00, -0.7287, 1.6107]]
for test_case in test_values:
act = blade.cl_interpolate(test_case[1], test_case[0])[0]
self.assertAlmostEqual(act, test_case[2], 8)
act = blade.cd_interpolate(test_case[1], test_case[0])[0]
self.assertAlmostEqual(act, test_case[3], 8)
def test_blade_tangent_line_angle(self):
airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360'
blade = vb.VawtBlade(0.2, airfoil_dir, 1)
# blade theta, blade tangent line angle
test_values = [
[-1, -2.5707963268],
[1, -0.570796327],
[2, 0.429203673205],
[3, 1.42920367321],
[-2, 2.712388980384]
]
for test_case in test_values:
answer = blade._blade_tangent_line_angle(test_case[0])
self.assertAlmostEqual(answer, test_case[1], 7, 'Wrong blade_tangent_line_angle')
def __init__(self, env_params):
self.env_params = env_params
self.pitch_resolution = self.env_params['pitch_resolution']
self.theta_resolution = self.env_params['theta_resolution']
self.wind_speed = self.env_params['wind_speed']
self.wind_direction = self.env_params['wind_direction']
self.blade = vb.VawtBlade(self.env_params['blade_chord_length'],
self.env_params['airfoil_dir'],
self.env_params['blade_shaft_dist'])
# for given blade create a function of (tsr,theta) that gives optimum pitch position
# for given amount/set of TSR's range(0.1,6.0, step=0.1)
# for each TSR create ct=f(pitch,theta) than RL the optimum pitch set in rl1_qtables
# save q_table as csv DataFrame
self.tsr_start = self.env_params['tsr_start']
self.tsr_stop = self.env_params['tsr_stop']
self.tsr_step = self.env_params['tsr_step']
def test_blade_chord_vec(self):
# calculate blade chord angle on blade_tangent_angle and pitch
airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360'
blade = vb.VawtBlade(0.2, airfoil_dir, 1)
test_values = [
# pitch positive - rotates clockwise
# positive pitch - 'takes wind under the wing of ascending plane'
# positive pitch must be substracted from blade tangent to give actual blade chord vector
# blade_tangent_vector, pitch, blade_chord_vector.theta
[vec.Vector2(r=1, theta=-2), 1, -1],
[vec.Vector2(r=1, theta=-1), -0.5, -1.5],
[vec.Vector2(r=1, theta=0.1), 1, 1.1],
[vec.Vector2(r=1, theta=3), -1, 2]
]
for tc in test_values:
answer = blade._blade_chord_vec(tc[0], tc[1])
self.assertAlmostEqual(answer.theta, tc[2], 5, 'Wrong blade chord vector')
def test_blade_tangent_line_angle(self):
wind_direction = 0
wind_speed = 3
wind_vector = bc.get_wind_vector(wind_direction, wind_speed)
# rotor_speed = 0.0001
rotor_speed = 3
# airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360'
airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/naca0018_360'
blade = vb.VawtBlade(0.2, airfoil_dir, 1)
theta_pitch = [(-2, 0, 0.252998783), (-1, 0, -0.1313296584),
(-1, 20 * math.tau / 360, -1.4047434233043994),
(-2, -2, -5.047621777237812)]
for theta, pitch, ft in theta_pitch:
self.assertAlmostEqual(
blade.get_tangential_force(wind_vector, rotor_speed, theta,
pitch), ft, 7, 'tangent_line_angle')
def test_tangential_force(self):
wind_direction = 0
wind_speed = 3
wind_vector = bc.get_wind_vector(wind_direction, wind_speed)
# rotor_speed = 0.0001
rotor_speed = 3
# airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360'
airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/naca0018_360'
blade = vb.VawtBlade(0.2, airfoil_dir, 1)
theta_pitch = [
(-1, 0.5, -0.70448212),
(-2, 0, 0.252998783),
(-1, 0, -0.13132965),
(-2, -2, -6.32908050)
]
for theta, pitch, ft in theta_pitch:
self.assertAlmostEqual(blade.get_tangential_force(wind_vector, rotor_speed, theta, pitch), ft,
7, 'Wrong Ft calculation')
import vec import learn.airfoil_dynamics.ct_plot.vawt_blade as vb import math import learn.airfoil_dynamics.ct_plot.base_calculus as bc # plots tangential force in function of aoa and rotora blade theta wind_direction = 0 wind_speed = 3 wind_vector = bc.get_wind_vector(wind_direction, wind_speed) # rotor_speed = 0.0001 rotor_speed = 3 # airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360' airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/naca0018_360' blade = vb.VawtBlade(0.2, airfoil_dir, 1) theta_range = [x * math.tau / 360 for x in range(-180, 180, 5)] pitch_range = [x * math.tau / 360 for x in range(-180, 180, 5)] # theta_range = [x*math.tau/360 for x in range(-180, 179, 5)] # theta_range = [x*math.tau/360 for x in range(-540, 540, 10)] # pitch_range = [x*math.tau/360 for x in range(-180, 179, 5)] # pitch_range = [x*math.tau/360 for x in range(-90, 90, 5)] # pitch_range = [x*math.tau/360 for x in range(-20, 20, 1)] # pitch_range = [x*math.tau/360 for x in range(-60, 60, 1)] # theta_range = [x for x in range(0, 10, 1)] # pitch_range = [x for x in range(-8, 7, 1)] thetas = []
import pandas as pd
import numpy as np
import matplotlib.pyplot as plt
import vec
import learn.airfoil_dynamics.ct_plot.vawt_blade as vb
import math
wind_vector = vec.Vector2(r=3, theta=0)
# rotor_speed = 0.0001
rotor_speed = 0.0001
cp10_airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/cp10_360'
naca0018_airfoil_dir = '/home/aa/vawt_env/learn/AeroDyn polars/naca0018_360'
cp10_blade = vb.VawtBlade(0.2, cp10_airfoil_dir, 1)
naca0018_blade = vb.VawtBlade(0.2, naca0018_airfoil_dir, 1)
theta_range = [x * math.tau / 360 for x in range(-180, 180, 10)]
# theta_range = [vec.normalize_angle(theta) for theta in theta_range]
pitch_range = [x * math.tau / 360 for x in range(-90, 90, 10)]
# pitch_range = [x*math.tau/360 for x in range(-30, 30, 1)]
# theta_range = [x for x in range(0, 10, 1)]
# pitch_range = [x for x in range(-8, 7, 1)]
thetas = []
for theta in theta_range:
theta_ct_polar = [
cp10_blade.get_tangential_force(wind_vector, rotor_speed, theta, pitch)
for pitch in pitch_range
]
thetas.append(theta_ct_polar)