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ENH: Updated rotor source trim sub-model
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andy
@ -18,7 +18,7 @@ basicSource/rotorDiskSource/profileModel/series/seriesProfile.C
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basicSource/rotorDiskSource/trimModel/trimModel/trimModel.C
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basicSource/rotorDiskSource/trimModel/trimModel/trimModelNew.C
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basicSource/rotorDiskSource/trimModel/fixed/fixedTrim.C
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basicSource/rotorDiskSource/trimModel/targetForce/targetForceTrim.C
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basicSource/rotorDiskSource/trimModel/targetCoeff/targetCoeffTrim.C
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basicSource/actuationDiskSource/actuationDiskSource.C
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basicSource/radialActuationDiskSource/radialActuationDiskSource.C
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@ -23,7 +23,7 @@ License
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\*---------------------------------------------------------------------------*/
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#include "targetForceTrim.H"
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#include "targetCoeffTrim.H"
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#include "addToRunTimeSelectionTable.H"
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#include "unitConversion.H"
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#include "mathematicalConstants.H"
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@ -34,15 +34,15 @@ using namespace Foam::constant;
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namespace Foam
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{
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defineTypeNameAndDebug(targetForceTrim, 0);
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defineTypeNameAndDebug(targetCoeffTrim, 0);
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addToRunTimeSelectionTable(trimModel, targetForceTrim, dictionary);
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addToRunTimeSelectionTable(trimModel, targetCoeffTrim, dictionary);
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}
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// * * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * //
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Foam::vector Foam::targetForceTrim::calcForce
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Foam::vector Foam::targetCoeffTrim::calcCoeffs
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(
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const vectorField& U,
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const scalarField& thetag,
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@ -51,34 +51,51 @@ Foam::vector Foam::targetForceTrim::calcForce
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{
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rotor_.calculate(U, thetag, force, false, false);
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bool compressible = rotor_.compressible();
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tmp<volScalarField> trho = rotor_.rho();
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const labelList& cells = rotor_.cells();
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const vectorField& C = rotor_.mesh().C();
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const List<point>& x = rotor_.x();
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const vector& origin = rotor_.coordSys().origin();
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const vector& rollAxis = rotor_.coordSys().e1();
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const vector& pitchAxis = rotor_.coordSys().e2();
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const vector& yawAxis = rotor_.coordSys().e3();
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vector f(vector::zero);
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scalar coeff1 = alpha_*sqr(rotor_.omega())*mathematical::pi;
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vector cf(vector::zero);
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forAll(cells, i)
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{
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label cellI = cells[i];
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vector moment = force[cellI]^(C[cellI] - origin);
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f[0] += force[cellI] & yawAxis;
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f[1] += moment & pitchAxis;
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f[2] += moment & rollAxis;
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// create normalisation coefficient
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scalar radius = x[i].x();
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scalar coeff2 = coeff1*pow4(radius);
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if (compressible)
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{
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coeff2 *= trho()[cellI];
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}
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reduce(f, sumOp<vector>());
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vector fc = force[cellI];
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vector mc = fc^(C[cellI] - origin);
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return f;
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// add to coefficient vector
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cf[0] += (fc & yawAxis)/(coeff2 + ROOTVSMALL);
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cf[1] += (mc & pitchAxis)/(coeff2*radius + ROOTVSMALL);
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cf[2] += (mc & rollAxis)/(coeff2*radius + ROOTVSMALL);
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}
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reduce(cf, sumOp<vector>());
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return cf;
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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Foam::targetForceTrim::targetForceTrim
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Foam::targetCoeffTrim::targetCoeffTrim
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(
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const rotorDiskSource& rotor,
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const dictionary& dict
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@ -91,7 +108,8 @@ Foam::targetForceTrim::targetForceTrim
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nIter_(50),
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tol_(1e-8),
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relax_(1.0),
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dTheta_(degToRad(0.1))
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dTheta_(degToRad(0.1)),
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alpha_(1.0)
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{
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read(dict);
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}
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@ -99,20 +117,20 @@ Foam::targetForceTrim::targetForceTrim
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// * * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * //
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Foam::targetForceTrim::~targetForceTrim()
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Foam::targetCoeffTrim::~targetCoeffTrim()
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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void Foam::targetForceTrim::read(const dictionary& dict)
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void Foam::targetCoeffTrim::read(const dictionary& dict)
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{
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trimModel::read(dict);
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const dictionary& targetDict(coeffs_.subDict("target"));
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target_[0] = readScalar(targetDict.lookup("fThrust"));
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target_[1] = readScalar(targetDict.lookup("mPitch"));
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target_[2] = readScalar(targetDict.lookup("mRoll"));
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target_[0] = readScalar(targetDict.lookup("thrustCoeff"));
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target_[1] = readScalar(targetDict.lookup("pitchCoeff"));
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target_[2] = readScalar(targetDict.lookup("rollCoeff"));
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const dictionary& pitchAngleDict(coeffs_.subDict("pitchAngles"));
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theta_[0] = degToRad(readScalar(pitchAngleDict.lookup("theta0Ini")));
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@ -129,10 +147,12 @@ void Foam::targetForceTrim::read(const dictionary& dict)
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{
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dTheta_ = degToRad(dTheta_);
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}
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alpha_ = readScalar(coeffs_.lookup("alpha"));
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}
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Foam::tmp<Foam::scalarField> Foam::targetForceTrim::thetag() const
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Foam::tmp<Foam::scalarField> Foam::targetCoeffTrim::thetag() const
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{
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const List<vector>& x = rotor_.x();
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@ -149,34 +169,38 @@ Foam::tmp<Foam::scalarField> Foam::targetForceTrim::thetag() const
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}
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void Foam::targetForceTrim::correct(const vectorField& U, vectorField& force)
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void Foam::targetCoeffTrim::correct(const vectorField& U, vectorField& force)
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{
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if (rotor_.mesh().time().timeIndex() % calcFrequency_ == 0)
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{
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Info<< type() << ":" << nl
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<< " solving for target trim coefficients" << nl;
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// iterate to find new pitch angles to achieve target force
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scalar err = GREAT;
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label iter = 0;
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tensor J(tensor::zero);
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vector old = vector::zero;
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while ((err > tol_) && (iter < nIter_))
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{
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// cache initial theta vector
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vector theta0(theta_);
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// set initial values
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vector old = calcForce(U, thetag(), force);
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old = calcCoeffs(U, thetag(), force);
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if (iter == 0) Info<< "old=" << old << endl;
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// construct Jacobian by perturbing the pitch angles
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// by +/-(dTheta_/2)
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for (label pitchI = 0; pitchI < 3; pitchI++)
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{
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theta_[pitchI] -= dTheta_/2.0;
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vector f0 = calcForce(U, thetag(), force);
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vector cf0 = calcCoeffs(U, thetag(), force);
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theta_[pitchI] += dTheta_;
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vector f1 = calcForce(U, thetag(), force);
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vector cf1 = calcCoeffs(U, thetag(), force);
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vector ddTheta = (f1 - f0)/dTheta_;
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vector ddTheta = (cf1 - cf0)/dTheta_;
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J[pitchI + 0] = ddTheta[0];
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J[pitchI + 3] = ddTheta[1];
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@ -201,23 +225,21 @@ void Foam::targetForceTrim::correct(const vectorField& U, vectorField& force)
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if (iter == nIter_)
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{
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WarningIn
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(
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"void Foam::targetForceTrim::correct"
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"("
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"const vectorField&, "
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"vectorField&"
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")"
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) << "Trim routine not converged in " << iter
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<< " iterations, max residual = " << err << endl;
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Info<< " solution not converged in " << iter
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<< " iterations, final residual = " << err
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<< "(" << tol_ << ")" << endl;
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}
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else
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{
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Info<< type() << ": converged in " << iter
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<< " iterations" << endl;
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Info<< " final residual = " << err << "(" << tol_
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<< "), iterations = " << iter << endl;
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}
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Info<< " new pitch angles:" << nl
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Info<< " current and target coefficients:" << nl
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<< " thrust = " << old[0] << ", " << target_[0] << nl
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<< " pitch = " << old[1] << ", " << target_[1] << nl
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<< " roll = " << old[2] << ", " << target_[2] << nl
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<< " new pitch angles [deg]:" << nl
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<< " theta0 = " << radToDeg(theta_[0]) << nl
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<< " theta1c = " << radToDeg(theta_[1]) << nl
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<< " theta1s = " << radToDeg(theta_[2]) << nl
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@ -22,18 +22,55 @@ License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Class
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Foam::targetForceTrim
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Foam::targetCoeffTrim
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Description
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Target force trim coefficients
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Target trim coefficients
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Solves:
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c^old + J.d(theta) = c^target
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Where:
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n = time level
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c = coefficient vector (thrust force, roll moment, pitch moment)
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theta = pitch angle vector (collective, roll, pitch)
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J = Jacobian [3x3] matrix
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The trimmed pitch angles are found via solving the above with a
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Newton-Raphson iterative method. The solver tolerance can be user-input,
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using the 'tol' entry.
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The coefficients are determined using:
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force
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c = ---------------------------------
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alpha*pi*rho*(omega^2)*(radius^4)
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and
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moment
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c = ---------------------------------
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alpha*pi*rho*(omega^2)*(radius^5)
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Where:
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alpha = user-input conversion coefficient (default = 1)
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rho = desity
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omega = rotor angulr velocity
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pi = mathematical pi
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SourceFiles
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targetForceTrim.C
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targetCoeffTrim.C
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\*---------------------------------------------------------------------------*/
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#ifndef targetForceTrim_H
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#define targetForceTrim_H
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#ifndef targetCoeffTrim_H
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#define targetCoeffTrim_H
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#include "trimModel.H"
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#include "tensor.H"
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@ -45,10 +82,10 @@ namespace Foam
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{
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/*---------------------------------------------------------------------------*\
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Class targetForceTrim Declaration
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Class targetCoeffTrim Declaration
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\*---------------------------------------------------------------------------*/
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class targetForceTrim
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class targetCoeffTrim
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:
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public trimModel
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{
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@ -60,7 +97,7 @@ protected:
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//- Number of iterations between calls to 'correct'
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label calcFrequency_;
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//- Target force [N]
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//- Target coefficient vector (thrust force, roll moment, pitch moment)
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vector target_;
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//- Pitch angles (collective, roll, pitch) [rad]
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@ -78,11 +115,14 @@ protected:
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//- Perturbation angle used to determine jacobian
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scalar dTheta_;
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//- Coefficient to allow for conversion between US and EU definitions
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scalar alpha_;
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// Protected member functions
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//- Calculate the rotor forces
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vector calcForce
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//- Calculate the rotor force and moment coefficients vector
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vector calcCoeffs
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(
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const vectorField& U,
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const scalarField& alphag,
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@ -93,13 +133,13 @@ protected:
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public:
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//- Run-time type information
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TypeName("targetForceTrim");
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TypeName("targetCoeffTrim");
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//- Constructor
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targetForceTrim(const rotorDiskSource& rotor, const dictionary& dict);
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targetCoeffTrim(const rotorDiskSource& rotor, const dictionary& dict);
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//- Destructor
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virtual ~targetForceTrim();
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virtual ~targetCoeffTrim();
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// Member functions
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