def assemble(self, track_body=False):
r"""
Assembles the linearised UVLM system, removes the desired inputs and adds linearised control surfaces
(if present).
With all possible inputs present, these are ordered as
.. math:: \mathbf{u} = [\boldsymbol{\zeta},\,\dot{\boldsymbol{\zeta}},\,\mathbf{w},\,\delta]
Control surface inputs are ordered last as:
.. math:: [\delta_1, \delta_2, \dots, \dot{\delta}_1, \dot{\delta_2}]
"""
self.sys.assemble_ss()
if self.scaled:
self.sys.nondimss()
self.ss = self.sys.SS
self.C_to_vertex_forces = self.ss.C.copy()
nzeta = 3 * self.sys.Kzeta
if self.settings['remove_inputs']:
self.remove_inputs(self.settings['remove_inputs'])
if self.gust_assembler is not None:
A, B, C, D = self.gust_assembler.generate(self.sys, aero=None)
ss_gust = libss.ss(A, B, C, D, dt=self.ss.dt)
self.gust_assembler.ss_gust = ss_gust
self.ss = libss.series(ss_gust, self.ss)
if self.control_surface is not None:
Kzeta_delta, Kdzeta_ddelta = self.control_surface.generate()
n_zeta, n_ctrl_sfc = Kzeta_delta.shape
# Modify the state space system with a gain at the input side
# such that the control surface deflections are last
if self.sys.use_sparse:
gain_cs = sp.eye(self.ss.inputs,
self.ss.inputs +
2 * self.control_surface.n_control_surfaces,
format='lil')
gain_cs[:n_zeta, self.ss.inputs:self.ss.inputs +
n_ctrl_sfc] = Kzeta_delta
gain_cs[n_zeta:2 * n_zeta,
self.ss.inputs + n_ctrl_sfc:self.ss.inputs +
2 * n_ctrl_sfc] = Kdzeta_ddelta
gain_cs = libsp.csc_matrix(gain_cs)
else:
gain_cs = np.eye(
self.ss.inputs, self.ss.inputs +
2 * self.control_surface.n_control_surfaces)
gain_cs[:n_zeta, self.ss.inputs:self.ss.inputs +
n_ctrl_sfc] = Kzeta_delta
gain_cs[n_zeta:2 * n_zeta,
self.ss.inputs + n_ctrl_sfc:self.ss.inputs +
2 * n_ctrl_sfc] = Kdzeta_ddelta
self.ss.addGain(gain_cs, where='in')
self.gain_cs = gain_cs
for node in range(data.structure.num_node):
node_bc = data.structure.boundary_conditions[node]
if node_bc != 1:
node_ndof = 6
vertical_force_index = np.array([0, 0, 1, 0, 0, 0]) / qS
K_Fz[:, wdof:wdof + node_ndof] = vertical_force_index
else:
node_ndof = 0
wdof += node_ndof
uvlm.SS.addGain(K_Fz, where='out')
# Join systems
sears_ss = libss.series(ss_gust, uvlm.SS)
# wt = np.linspace(0.01, 14, 100)
# Y_test = sears_ss.freqresp(wt)
#
# plt.plot(wt, Y_test[0, 0, :].real)
# plt.plot(wt, Y_test[0, 0, :].imag)
# plt.savefig(fig_folder + 'Test_MxG.eps')
# ROM
rom = krylovrom.KrylovReducedOrderModel()
rom.initialise(data, sears_ss)
frequency_continuous_w = 2 * u_inf * frequency_continuous_k / ws.c_ref
frequency_dt = np.exp(frequency_continuous_k * dt)
rom.run(algorithm, krylov_r, frequency_dt)
# Time Domain Simulation