Пример #1
0
def side_force_coeff_test_cases():
    constants = SkywalkerX8Constants()
    b = constants.wing_span
    state1 = State()
    state1.vx = 20.0
    state1.vy = 0.0
    state1.vz = 0.0
    state2 = State()
    state2.vx = 28.6362532829
    state2.vy = 1.0
    state2.vz = 0.0
    state2.ang_rate_x = 5 * np.pi / 180
    state2.ang_rate_z = 5 * np.pi / 180
    wind = np.zeros(6)
    airspeed = np.sqrt(np.sum(calc_airspeed(state2, wind)**2))
    zero_input = ControlInput()
    aileron_input = ControlInput()
    aileron_input.aileron_deflection = 2.0 * np.pi / 180.0

    return [
        (state1, wind, 0.0, zero_input, 2.99968641720902E-08),
        (state1, wind, 1.0, zero_input, -7.94977329537982E-06),
        (state2, wind, 0.0, aileron_input,
         -0.008604744865183 + -0.085 * b / (2 * airspeed) * state2.ang_rate_x +
         0.005 * b / (2 * airspeed) * state2.ang_rate_z +
         0.0433 * aileron_input.aileron_deflection),
        (state2, wind, 1.0, aileron_input,
         -0.007089388672593 + -0.133 * b / (2 * airspeed) * state2.ang_rate_x +
         0.002 * b / (2 * airspeed) * state2.ang_rate_z +
         0.0433 * aileron_input.aileron_deflection)
    ]
Пример #2
0
def yaw_moment_coeff_test_cases():
    constants = SkywalkerX8Constants()
    b = constants.wing_span
    state1 = State()
    state1.vx = 20.0
    state1.vy = 0.0
    state1.vz = 0.0
    state2 = State()
    state2.vx = 28.6362532829
    state2.vy = 1.0
    state2.vz = 0.0
    state2.ang_rate_x = 5 * np.pi / 180
    state2.ang_rate_z = 5 * np.pi / 180
    wind = np.zeros(6)
    airspeed = np.sqrt(np.sum(calc_airspeed(state2, wind)**2))
    zero_input = ControlInput()
    aileron_input = ControlInput()
    aileron_input.aileron_deflection = 2.0 * np.pi / 180.0

    return [
        (state1, wind, 0.0, zero_input, 4.9176697574439E-06),
        (state1, wind, 1.0, zero_input, 1.96093394589053E-05),
        (state2, wind, 0.0, aileron_input,
         0.000825947539055 + 0.027 * b / (2 * airspeed) * state2.ang_rate_x +
         -0.022 * b / (2 * airspeed) * state2.ang_rate_z -
         0.00339 * aileron_input.aileron_deflection),
        (state2, wind, 1.0, aileron_input,
         0.001052911121301 + 0.017 * b / (2 * airspeed) * state2.ang_rate_x +
         -0.049 * b / (2 * airspeed) * state2.ang_rate_z -
         0.00339 * aileron_input.aileron_deflection)
    ]
Пример #3
0
def roll_moment_coeff_test_cases():
    constants = SkywalkerX8Constants()
    b = constants.wing_span
    state1 = State()
    state1.vx = 20.0
    state1.vy = 0.0
    state1.vz = 0.0
    state2 = State()
    state2.vx = 28.6362532829
    state2.vy = 1.0
    state2.vz = 0.0
    state2.ang_rate_x = 5 * np.pi / 180
    state2.ang_rate_z = 5 * np.pi / 180
    wind = np.zeros(6)
    airspeed = np.sqrt(np.sum(calc_airspeed(state2, wind)**2))
    zero_input = ControlInput()
    aileron_input = ControlInput()
    aileron_input.aileron_deflection = 2.0 * np.pi / 180.0

    return [
        (state1, wind, 0.0, zero_input, -8.40821757613653E-05),
        (state1, wind, 1.0, zero_input, -7.34515369827804E-05),
        (state2, wind, 0.0, aileron_input,
         -0.00380800071177 + -0.409 * b / (2 * airspeed) * state2.ang_rate_x +
         0.039 * b / (2 * airspeed) * state2.ang_rate_z +
         0.12 * aileron_input.aileron_deflection),
        (state2, wind, 1.0, aileron_input,
         -0.003067251004494 + -0.407 * b / (2 * airspeed) * state2.ang_rate_x +
         0.158 * b / (2 * airspeed) * state2.ang_rate_z +
         0.12 * aileron_input.aileron_deflection)
    ]
Пример #4
0
def test_dynamics_moments():
    control_input = ControlInput()
    t = 0

    for i in range(-50, 51, 50):
        control_input.throttle = i
        control_input.elevator_deflection = i
        control_input.aileron_deflection = i
        control_input.rudder_deflection = i
        prop = SimpleTestAircraftNoForces(control_input)

        state = State()
        state.vx = 20.0
        state.vy = 1
        state.vz = 0
        state.ang_rate_x = 0.157079633
        state.ang_rate_y = 0.157079633
        state.ang_rate_z = 0.157079633
        params = {"prop": prop, "wind": no_wind()}
        update = dynamics_kinetmatics_update(t=t,
                                             x=state.state,
                                             u=control_input.control_input,
                                             params=params)
        moments_aero = np.array([
            control_input.elevator_deflection,
            control_input.aileron_deflection, control_input.rudder_deflection
        ])
        omega = np.array(
            [state.ang_rate_x, state.ang_rate_y, state.ang_rate_z])
        coreolis_term = prop.inv_inertia_matrix().dot(
            np.cross(omega,
                     prop.inertia_matrix().dot(omega)))

        ang_rate_x_update_expect = (2 / 3) * moments_aero[0] - (
            1 / 3) * moments_aero[2] - coreolis_term[0]
        ang_rate_y_update_expect = (1 / 2) * moments_aero[1] - coreolis_term[1]
        ang_rate_z_update_expect = (2 / 3) * moments_aero[2] - (
            1 / 3) * moments_aero[0] - coreolis_term[2]
        assert np.allclose(ang_rate_x_update_expect, update[9])
        assert np.allclose(ang_rate_y_update_expect, update[10])
        assert np.allclose(ang_rate_z_update_expect, update[11])
Пример #5
0
def test_kinematics():
    control_input = ControlInput()
    prop = FrictionlessBall(control_input)
    outputs = [
        "x", "y", "z", "roll", "pitch", "yaw", "vx", "vy", "vz", "ang_rate_x",
        "ang_rate_y", "ang_rate_z"
    ]
    system = build_nonlin_sys(prop, no_wind(), outputs)
    t = np.linspace(0.0, 10, 500, endpoint=True)
    state = State()
    state.vx = 20.0
    state.vy = 1
    for i in range(3):
        state.roll = 0
        state.pitch = 0
        state.yaw = 0
        if i == 0:
            state.ang_rate_x = 0.157079633
            state.ang_rate_y = 0
            state.ang_rate_z = 0
        elif i == 1:
            state.ang_rate_x = 0
            state.ang_rate_y = 0.157079633
            state.ang_rate_z = 0
        elif i == 2:
            state.ang_rate_x = 0
            state.ang_rate_y = 0
            state.ang_rate_z = 0.157079633

        T, yout = input_output_response(system, t, U=0, X0=state.state)
        pos = np.array(yout[:3])
        eul_ang = np.array(yout[3:6])

        vel_inertial = np.array(
            [np.zeros(len(t)),
             np.zeros(len(t)),
             np.zeros(len(t))])
        for j in range(len(vel_inertial[0])):
            state.roll = yout[3, j]
            state.pitch = yout[4, j]
            state.yaw = yout[5, j]
            vel = np.array([yout[6, j], yout[7, j], yout[8, j]])
            vel_inertial_elem = body2inertial(vel, state)
            vel_inertial[0, j] = vel_inertial_elem[0]
            vel_inertial[1, j] = vel_inertial_elem[1]
            vel_inertial[2, j] = vel_inertial_elem[2]

        vx_inertial_expect = 20 * np.ones(len(t))
        vy_inertial_expect = 1 * np.ones(len(t))
        vz_inertial_expect = GRAVITY_CONST * t
        x_expect = 20 * t
        y_expect = 1 * t
        z_expect = 0.5 * GRAVITY_CONST * t**2
        roll_expect = state.ang_rate_x * t
        pitch_expect = state.ang_rate_y * t
        yaw_expect = state.ang_rate_z * t
        assert np.allclose(vx_inertial_expect, vel_inertial[0], atol=7e-3)
        assert np.allclose(vy_inertial_expect, vel_inertial[1], atol=5e-3)
        assert np.allclose(vz_inertial_expect, vel_inertial[2], atol=8e-3)
        assert np.allclose(x_expect, pos[0], atol=8e-2)
        assert np.allclose(y_expect, pos[1], atol=5e-2)
        assert np.allclose(z_expect, pos[2], atol=7e-2)
        assert np.allclose(roll_expect, eul_ang[0], atol=1e-3)
        assert np.allclose(pitch_expect, eul_ang[1], atol=1e-3)
        assert np.allclose(yaw_expect, eul_ang[2], atol=1e-3)