class MainBody(VariableTree):
body_name = Str('body')
subsystem = Enum('Tower', ('Rotor', 'Nacelle', 'Tower', 'Foundation'))
beam_structure = VarTree(BeamStructureVT(), desc='Structural beam properties of the body')
geom = VarTree(BeamGeometryVT(), desc='Beam geometry')
mass = Float(desc='mass of the body')
damping_posdef = Array(np.zeros(6))
concentrated_mass = List(Array())
def createEquivalentBeam(self):
"""
Takes the wing positions at every time step and creates an equivalent beam description
"""
# distance following the form of the wing
r_OC = np.linspace(0.0, self.wdef.front.OC, np.round(self.n*self.wdef.front.OC/(self.wdef.front.OC+self.wdef.front.CD)))
r_CD = np.linspace(0.0, self.wdef.front.CD, np.round(self.n*self.wdef.front.CD/(self.wdef.front.OC+self.wdef.front.CD))+1)
# calculate vector from O to C and from C to D for angular step of the mechanism
OCf_vec = (self.wpos.front.C-self.wpos.front.O).T
CDf_vec = (self.wpos.front.D-self.wpos.front.C).T
OCb_vec = (self.wpos.back.C-self.wpos.back.O).T
CDb_vec = (self.wpos.back.D-self.wpos.back.C).T
for ocf, cdf, ocb, cdb in zip(OCf_vec, CDf_vec, OCb_vec, CDb_vec):
# make unit vectors
ocf = ocf/np.linalg.norm(ocf)
cdf = cdf/np.linalg.norm(cdf)
ocb = ocb/np.linalg.norm(ocb)
cdb = cdb/np.linalg.norm(cdb)
# beam position
beam_pos = np.array([[0.0, 0.0, 0.0]])
for r in r_OC[1:]:
beam_pos = np.vstack((beam_pos, [ocf*r]))
# beam_pos[-1][2] = self.wpos.front.O[2][0]
for r in r_CD[1:]:
beam_pos = np.vstack((beam_pos, [beam_pos[len(r_OC)-1]+cdf*r]))
# beam_pos[-1][2] = self.wpos.front.O[2][0]
# put position into correct structure
beam = BeamGeometryVT()
beam.x = beam_pos.T[2]
beam.y = beam_pos.T[1]
beam.z = beam_pos.T[0]
# print beam_pos.T[2]
# beam twist
beam_pos_back = np.array([[0.0, 0.0, self.wpos.back.O[2][0]]])
z = np.array([0, 0, 1])
x = np.array([ocf])
for r in r_OC[1:]:
beam_pos_back = np.vstack((beam_pos_back, [ocb*r]))
# Assumption: no taper, no sweep
beam_pos_back[-1][2] = self.wpos.back.O[2][0]
#rot_x.append(np.rad2deg(np.arccos(np.dot(ocf, np.array([1, 0, 0]))/np.linalg.norm(ocf))))
z = np.vstack((z, [0, 0, 1]))
x = np.vstack((x, [ocf]))
for r in r_CD[1:]:
beam_pos_back = np.vstack((beam_pos_back, [beam_pos_back[len(r_OC)-1]+cdb*r]))
# Assumption: no taper, no sweep
# beam_pos_back[-1][2] = self.wpos.back.O[2][0]
#rot_x.append(np.rad2deg(np.arccos(np.dot(cdf, np.array([1, 0, 0]))/np.linalg.norm(cdf))))
z = np.vstack((z, [0, 0, 1]))
x = np.vstack((x, [cdf]))
y = np.cross(x, z)
y = y/((y*y).sum(axis=1)**0.5)[:, np.newaxis]
v = beam_pos-beam_pos_back
v_y = (v*y).sum(axis=1)
v_x = (v*x).sum(axis=1)
v_z = (v*z).sum(axis=1)
#v_z = beam_pos-beam_pos_back
#v_z[:,1] = np.zeros(len(v_z))
#v_z = v_z/((v_z*v_z).sum(axis=1)**0.5)[:,np.newaxis]
beam.rot_x = np.zeros(len(beam_pos.T[0])) #np.array(rot_x)
beam.rot_y = np.zeros(len(beam_pos.T[0])) #np.rad2deg(np.arctan((beam_pos.T[0]-beam_pos_back.T[0])/(beam_pos.T[2]-beam_pos_back.T[2])))
beam.rot_z = -np.rad2deg(np.arctan(v_y/v_z)) #np.sign(v[:,1])*np.rad2deg(np.arccos((v*v_z).sum(axis=1)/(v*v).sum(axis=1)**0.5)) # np.rad2deg(np.arctan((beam_pos.T[1]-beam_pos_back.T[1])/(beam_pos.T[2]-beam_pos_back.T[2])))
beam.s = calculate_length(np.array([beam.x, beam.y, beam.z]).T)
if (len(self.wpos.eqspar_geom) == 0):
print "v_y ", v_y
print "v_z ", v_z
print "rot_z ", beam.rot_z
# beam speed
if len(self.wpos.eqspar_geom)>0:
beam_previous = self.wpos.eqspar_geom[-1]
beam_previous.vel_x = (beam.x-beam_previous.x)/self.dt
beam_previous.vel_y = (beam.y-beam_previous.y)/self.dt
beam_previous.vel_z = (beam.z-beam_previous.z)/self.dt
self.wpos.eqspar_geom[-1] = beam_previous
self.wpos.eqspar_geom.append(beam)
self.wpos.eqspar_geom.pop()
import numpy as np
import matplotlib.pyplot as plt
from BISDEM.WingSE.wingsurface import WingSurface
from BISDEM.lib.vartrees import WingPlanformVT
from openmdao.main.api import Component
from openmdao.lib.datatypes.api import Float, List, Slot, File, FileRef
from fusedwind.turbine.geometry_vt import BeamGeometryVT, BladePlanformVT
from fusedwind.lib.geom_tools import calculate_length
from os.path import expanduser
home = expanduser("~")
surface = WingSurface()
beam = BeamGeometryVT()
beam.x = np.array([0, 0.0, -0.05]);
beam.y = np.array([0, -0.01, -0.02]);
beam.z = np.array([0, 0.1, 0.2]);
beam.s = calculate_length(np.array([beam.x, beam.y, beam.z]).T)
beam.rot_x = [0, 0, 0];
beam.rot_y = [0, 0, 0];
beam.rot_z = [0, 0, 0];
surface.eqspar_geom = [beam]
planform = WingPlanformVT();
planform.blade_length = .2;
planform.chord = [1, 1, 0.5];
planform.rthick = np.array([0.05, 0.05, 0.05]);
planform.p_le = [0.0, 0.0, 0.0];
surface.planform_in = [planform];
