da-jsbsim/FGRotor_8h_source.html

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 Header:       FGRotor.h

 Author:       T. Kreitler

 Date started: 08/24/00


 ------------- Copyright (C) 2010  T. Kreitler (t.kreitler@web.de) -------------


 This program is free software; you can redistribute it and/or modify it under

 the terms of the GNU Lesser General Public License as published by the Free Software

 Foundation; either version 2 of the License, or (at your option) any later

 version.


 This program is distributed in the hope that it will be useful, but WITHOUT

 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS

 FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more

 details.


 You should have received a copy of the GNU Lesser General Public License along with

 this program; if not, write to the Free Software Foundation, Inc., 59 Temple

 Place - Suite 330, Boston, MA  02111-1307, USA.


 Further information about the GNU Lesser General Public License can also be found on

 the world wide web at http://www.gnu.org.


HISTORY

--------------------------------------------------------------------------------

01/01/10  T.Kreitler test implementation

01/10/11  T.Kreitler changed to single rotor model

03/06/11  T.Kreitler added brake, clutch, and experimental free-wheeling-unit

02/05/12  T.Kreitler brake, clutch, and FWU now in FGTransmission class


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SENTRY

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#ifndef FGROTOR_H

#define FGROTOR_H


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INCLUDES

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#include "FGThruster.h"

#include "FGTransmission.h"


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FORWARD DECLARATIONS

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namespace JSBSim {


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CLASS DOCUMENTATION

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CLASS DECLARATION

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class FGRotor :  public FGThruster {


  enum eCtrlMapping {eMainCtrl=0, eTailCtrl, eTandemCtrl};


public:


  FGRotor(FGFDMExec *exec, Element* rotor_element, int num);


  ~FGRotor();


  double GetPowerRequired(void)const { return PowerRequired; }


  double Calculate(double EnginePower);


  double GetRPM(void) const { return RPM; }

  void   SetRPM(double rpm) { RPM = rpm; }


  double GetEngineRPM(void) const {return EngineRPM;} //{ return GearRatio*RPM; }

  void SetEngineRPM(double rpm) {EngineRPM = rpm;} //{ RPM = rpm/GearRatio; }

  double GetGearRatio(void) { return GearRatio; }

  double GetThrust(void) const { return Thrust; }


  double GetA0(void) const { return a0; }

  double GetA1(void) const { return a1s; }

  double GetB1(void) const { return b1s; }


  double GetLambda(void) const { return lambda; }

  double GetMu(void) const { return mu; }

  double GetNu(void) const { return nu; }

  double GetVi(void) const { return v_induced; }

  double GetCT(void) const { return C_T; }

  double GetTorque(void) const { return Torque; }


  double GetThetaDW(void) const { return theta_downwash; }

  double GetPhiDW(void) const { return phi_downwash; }


  double GetGroundEffectScaleNorm(void) const { return GroundEffectScaleNorm; }

  void   SetGroundEffectScaleNorm(double g) { GroundEffectScaleNorm = g; }


  double GetCollectiveCtrl(void) const { return CollectiveCtrl; }

  double GetLateralCtrl(void) const { return LateralCtrl; }

  double GetLongitudinalCtrl(void) const { return LongitudinalCtrl; }


  void SetCollectiveCtrl(double c) { CollectiveCtrl = c; }

  void SetLateralCtrl(double c) { LateralCtrl = c; }

  void SetLongitudinalCtrl(double c) { LongitudinalCtrl = c; }


  // Stubs. Only main rotor RPM is returned

  std::string GetThrusterLabels(int id, const std::string& delimeter);

  std::string GetThrusterValues(int id, const std::string& delimeter);


private:


  // assist in parameter retrieval

  double ConfigValueConv( Element* e, const std::string& ename, double default_val=0.0,

                                      const std::string& unit = "", bool tell=false);


  double ConfigValue( Element* e, const std::string& ename, double default_val=0.0,

                                  bool tell=false);


  double Configure(Element* rotor_element);


  void CalcRotorState(void);


  // rotor dynamics

  void calc_flow_and_thrust(double theta_0, double Uw, double Ww, double flow_scale = 1.0);

  void calc_coning_angle(double theta_0);

  void calc_flapping_angles(double theta_0, const FGColumnVector3 &pqr_fus_w);

  void calc_drag_and_side_forces(double theta_0);

  void calc_torque(double theta_0);

  void calc_downwash_angles();


  // transformations

  FGColumnVector3 hub_vel_body2ca( const FGColumnVector3 &uvw, const FGColumnVector3 &pqr,

                                   double a_ic = 0.0 , double b_ic = 0.0 );

  FGColumnVector3 fus_angvel_body2ca( const FGColumnVector3 &pqr);

  FGColumnVector3 body_forces(double a_ic = 0.0 , double b_ic = 0.0 );

  FGColumnVector3 body_moments(double a_ic = 0.0 , double b_ic = 0.0 );


  // interface

  bool bindmodel(FGPropertyManager* pm);

  void Debug(int from);


  // environment

  double dt;

  double rho;

  Filter damp_hagl;


  // configuration parameters

  double Radius;

  int    BladeNum;


  // rpm control

  double Sense;

  double NominalRPM;

  double MinimalRPM;

  double MaximalRPM;

  int    ExternalRPM;

  int    RPMdefinition;

  FGPropertyNode_ptr ExtRPMsource;

  double SourceGearRatio;


  // 'real' rotor parameters

  double BladeChord;

  double LiftCurveSlope;

  double BladeTwist;

  double HingeOffset;

  double BladeFlappingMoment;

  double BladeMassMoment;

  double PolarMoment;

  double InflowLag;

  double TipLossB;


  // groundeffect

  double GroundEffectExp;

  double GroundEffectShift;

  double GroundEffectScaleNorm;


  // derived parameters

  double LockNumberByRho;

  double Solidity; // aka sigma

  double R[5]; // Radius powers

  double B[5]; // TipLossB powers


  // Some of the calculations require shaft axes. So the

  // thruster orientation (Tbo, with b for body) needs to be

  // expressed/represented in helicopter shaft coordinates (Hsr).

  FGMatrix33 InvTransform;

  FGMatrix33 TboToHsr;

  FGMatrix33 HsrToTbo;


  // dynamic values

  double RPM;

  double Omega;          // must be > 0

  double beta_orient;    // rotor orientation angle (rad)

  double a0;             // coning angle (rad)

  double a_1, b_1, a_dw; // flapping angles

  double a1s, b1s;       // cyclic flapping relative to shaft axes, /SH79/ eqn(43)

  double H_drag, J_side; // Forces


  double Torque;

  double C_T;        // rotor thrust coefficient

  double lambda;     // inflow ratio

  double mu;         // tip-speed ratio

  double nu;         // induced inflow ratio

  double v_induced;  // induced velocity, usually positive [ft/s]


  double theta_downwash;

  double phi_downwash;


  // control

  eCtrlMapping ControlMap;

  double CollectiveCtrl;

  double LateralCtrl;

  double LongitudinalCtrl;


  // interaction with engine

  FGTransmission *Transmission;

  double EngineRPM;

  double MaxBrakePower;

  double GearLoss;

  double GearMoment;


};


}

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#endif