diff --git a/Pipfile b/Pipfile deleted file mode 100644 index e29feac96..000000000 --- a/Pipfile +++ /dev/null @@ -1,13 +0,0 @@ -[[source]] -url = "https://pypi.org/simple" -verify_ssl = true -name = "pypi" - -[packages] -numpy = "*" - -[dev-packages] - -[requires] -python_version = "3.10" -python_full_version = "3.10.6" diff --git a/README_dev.md b/README_dev.md deleted file mode 100644 index 127c2249e..000000000 --- a/README_dev.md +++ /dev/null @@ -1,26 +0,0 @@ -# Workflow -Following the git-branch-model: https://nvie.com/posts/a-successful-git-branching-model/ -When merging develop to master, always ensure it is a stable version with a tag - -## Implementing a new feature -### On GitHub -1. Create an issue on GitHub -2. OpenUp a branch from this issue and ensure it's made from the `develop` branch -### Locally -3. Update using the provided command (will include a `git fetch` and a `git checkout`) -4. Implement your new feature -### On GitHub -6. Use a pull request to merge, and inside of it add the current issue to close it -once merged -7. Once merged, delete this feature branch -8. Close issue -### Locally -9. Switch branch to develop, update branch information, pull in new info -```bash -git checkout develop -git fetch --prune -git pull origin develop -``` -10. Delete branch -```bash -git branch -d -``` \ No newline at end of file diff --git a/__init__.py b/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/data/2plate_kite/config.yaml b/data/2plate_kite/config.yaml index 002d7ef75..4cb2ef95f 100644 --- a/data/2plate_kite/config.yaml +++ b/data/2plate_kite/config.yaml @@ -57,6 +57,8 @@ structural_kite_fem: relax_update: !!float 0.95 k_update: !!int 1 I_stiffness: !!int 25 #V3 kite: 25 + pseudo_dt: !!float 0.02 # pseudo-transient timestep [s] for mass-proportional regularization. Overrides I_stiffness when set. + k_reg_min: !!float 200.0 # minimum regularization stiffness [N/m] floor for light bridle/steering nodes print_info: !!bool false ## aero2struc diff --git a/data/TUDELFT_V3_KITE/2D_airfoils_polars_plots_BEST/2D_airfoils_sliced_from_CFD_CAD/1.dat b/data/TUDELFT_V3_KITE/2D_airfoils_polars_plots_BEST/2D_airfoils_sliced_from_CFD_CAD/1.dat new file mode 100644 index 000000000..27c28c5ed --- /dev/null +++ b/data/TUDELFT_V3_KITE/2D_airfoils_polars_plots_BEST/2D_airfoils_sliced_from_CFD_CAD/1.dat @@ -0,0 +1,399 @@ +1.000000000000000000e+00,0.000000000000000000e+00 +9.999957733486022349e-01,9.926891395894084954e-05 +9.999874219286499777e-01,1.982720916082920124e-04 +9.999747037255353188e-01,2.968096366942278141e-04 +9.999576596482652180e-01,3.946919479016577936e-04 +9.999363375573354640e-01,4.917321945872186670e-04 +9.999108066327682121e-01,5.877509209404647864e-04 +9.998810926169684477e-01,6.825586148469656514e-04 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+47.0,1.390062550552907,1.1105129500810225,-0.18624224543747012 +47.5,1.3937735203483004,1.1175772178805705,-0.1865198064511428 +48.00000000000001,1.397132559080129,1.1235476443492567,-0.18686003843491333 +48.5,1.4001265797990423,1.1283798455239316,-0.18726669966543727 +49.0,1.4027424955556884,1.1320294374414457,-0.1877435484193703 +49.5,1.4049672194007161,1.1344520361386503,-0.18829434297336808 +50.0,1.4067876643847743,1.1356032576523956,-0.18892284160408623 diff --git a/data/TUDELFT_V3_KITE/2D_airfoils_polars_plots_BEST/aero_geometry_CFD_CAD_derived.yaml b/data/TUDELFT_V3_KITE/2D_airfoils_polars_plots_BEST/aero_geometry_CFD_CAD_derived.yaml new file mode 100644 index 000000000..e31d178c0 --- /dev/null +++ b/data/TUDELFT_V3_KITE/2D_airfoils_polars_plots_BEST/aero_geometry_CFD_CAD_derived.yaml @@ -0,0 +1,105 @@ +wing_sections: + # --------------------------------------------------------------- + # headers: + # - airfoil_id: integer, unique identifier for the airfoil (matches wing_airfoils) + # - LE_x: x-coordinate of leading edge + # - LE_y: y-coordinate of leading edge + # - LE_z: z-coordinate of leading edge + # - TE_x: x-coordinate of trailing edge + # - TE_y: y-coordinate of trailing edge + # - TE_z: z-coordinate of trailing edge + # --------------------------------------------------------------- + headers: [airfoil_id, LE_x, LE_y, LE_z, TE_x, TE_y, TE_z] + data: + - [19, 0.10494809354160103, 4.110425010287237, 8.27069488190273, 0.9322352740642089, 4.136759541813347, 8.276769856483405] + - [18, -0.12594856150986303, 4.095312460948618, 8.381752674216157, 0.9480319715306028, 4.119176793915081, 8.387506882641508] + - [17, -0.415204088177974, 4.058392218797549, 8.602739816172805, 0.9806642670037444, 4.0661917809302714, 8.604784652851428] + - [16, -0.5839406178913704, 4.017404143963288, 8.823136130673557, 1.0133061573517872, 4.0126965083918655, 8.821802062421128] + - [15, -0.6731255454312801, 3.9710648600916856, 9.042296994306358, 1.0459407519807051, 3.959304771307195, 9.038711553698102] + - [14, -0.7630010692513897, 3.808661454565653, 9.461650307607462, 1.1148900094481449, 3.8099544198423287, 9.462462687618386] + - [13, -0.8034346573868656, 3.671721332477886, 9.640208096108445, 1.1590484514963157, 3.676560321852442, 9.644355401152323] + - [12, -0.8426236438512831, 3.5037765531662273, 9.793146879047017, 1.2069146554234733, 3.5081098865401383, 9.79813951074277] + - [11, -0.9107041725649544, 3.136094612354681, 10.04874447891271, 1.3282999037052468, 3.1343435230977734, 10.046504069372347] + - [10, -0.9734084029764644, 2.799119438334862, 10.344239736588595, 1.341651389866222, 2.7979060165852596, 10.342401274552168] + - [9, -1.0012604181004636, 2.60606743950073, 10.460915675643339, 1.3470535121521396, 2.607652208222479, 10.4640730423076] + - [8, -1.0255704673876633, 2.3933957820040352, 10.539222758944668, 1.3704766336634273, 2.3946575320852, 10.542717092764684] + - [7, -1.066808167099677, 1.9597511829533572, 10.648710571788577, 1.4286937460004634, 1.9587427796536303, 10.645858306351975] + - [6, -1.102721455861017, 1.5539231291222366, 10.837899390284646, 1.4218476587327253, 1.5529087742581646, 10.834735742551917] + - [5, -1.1174483964012778, 1.3372547196154843, 10.903130724885706, 1.4206278262933396, 1.337221665561774, 10.902962868560538] + - [4, -1.1290037004055944, 1.111273134975715, 10.922140965756022, 1.4350857915331694, 1.1111744842343718, 10.920881486234418] + - [3, -1.1448828836323988, 0.6642030404518473, 10.908203792543517, 1.4733964618305042, 0.6638228115665804, 10.903361447444984] + - [2, -1.1544229650457856, 0.22477286325409476, 10.989264150331223, 1.4484005139953104, 0.2247570459738744, 10.989096462216464] + - [1, -1.1557911914860979, 0.0, 11.00491618799836, 1.443146003226444, 0.0, 11.004972573823276] + - [2, -1.1544229650457856, -0.22477286325409476, 10.989264150331223, 1.4484005139953104, -0.2247570459738744, 10.989096462216464] + - [3, -1.1448828836323988, -0.6642030404518473, 10.908203792543517, 1.4733964618305042, -0.6638228115665804, 10.903361447444984] + - [4, -1.1290037004055944, -1.111273134975715, 10.922140965756022, 1.4350857915331694, -1.1111744842343718, 10.920881486234418] + - [5, -1.1174483964012778, -1.3372547196154843, 10.903130724885706, 1.4206278262933396, -1.337221665561774, 10.902962868560538] + - [6, -1.102721455861017, -1.5539231291222366, 10.837899390284646, 1.4218476587327253, -1.5529087742581646, 10.834735742551917] + - [7, -1.066808167099677, -1.9597511829533572, 10.648710571788577, 1.4286937460004634, -1.9587427796536303, 10.645858306351975] + - [8, -1.0255704673876633, -2.3933957820040352, 10.539222758944668, 1.3704766336634273, -2.3946575320852, 10.542717092764684] + - [9, -1.0012604181004636, -2.60606743950073, 10.460915675643339, 1.3470535121521396, -2.607652208222479, 10.4640730423076] + - [10, -0.9734084029764644, -2.799119438334862, 10.344239736588595, 1.341651389866222, -2.7979060165852596, 10.342401274552168] + - [11, -0.9107041725649544, -3.136094612354681, 10.04874447891271, 1.3282999037052468, -3.1343435230977734, 10.046504069372347] + - [12, -0.8426236438512831, -3.5037765531662273, 9.793146879047017, 1.2069146554234733, -3.5081098865401383, 9.79813951074277] + - [13, -0.8034346573868656, -3.671721332477886, 9.640208096108445, 1.1590484514963157, -3.676560321852442, 9.644355401152323] + - [14, -0.7630010692513897, -3.808661454565653, 9.461650307607462, 1.1148900094481449, -3.8099544198423287, 9.462462687618386] + - [15, -0.6731255454312801, -3.9710648600916856, 9.042296994306358, 1.0459407519807051, -3.959304771307195, 9.038711553698102] + - [16, -0.5839406178913704, -4.017404143963288, 8.823136130673557, 1.0133061573517872, -4.0126965083918655, 8.821802062421128] + - [17, -0.415204088177974, -4.058392218797549, 8.602739816172805, 0.9806642670037444, -4.0661917809302714, 8.604784652851428] + - [18, -0.12594856150986303, -4.095312460948618, 8.381752674216157, 0.9480319715306028, -4.119176793915081, 8.387506882641508] + - [19, 0.10494809354160103, -4.110425010287237, 8.27069488190273, 0.9322352740642089, -4.136759541813347, 8.276769856483405] + +wing_airfoils: + # --------------------------------------------------------------- + # headers: + # - airfoil_id: integer, unique identifier for the airfoil + # - type: one of [neuralfoil, breukels_regression, masure_regression, polars] + # - info_dict: dictionary with parameters depending on 'type' + # + # info_dict fields by type: + # - breukels_regression: + # t: Tube diameter non-dimensionalized by chord (required) + # kappa: Maximum camber height/magnitude, non-dimensionalized by chord (required) + # - neuralfoil: + # dat_file_path: Path to airfoil .dat file (x, y columns) + # model_size: NeuralFoil model size (e.g., "xxxlarge") + # xtr_lower: Lower transition location (0=forced, 1=free) + # xtr_upper: Upper transition location + # n_crit: Critical amplification factor (see guidelines below) + # n_crit guidelines: + # Sailplane: 12–14 + # Motorglider: 11–13 + # Clean wind tunnel: 10–12 + # Average wind tunnel: 9 (standard "e^9 method") + # Dirty wind tunnel: 4–8 + # - polars: + # csv_file_path: Path to polar CSV file (columns: alpha [rad], cl, cd, cm) + # - masure_regression: + # t, eta, kappa, delta, lambda, phi: Regression parameters + # - inviscid: + # no further data is required + # --------------------------------------------------------------- + alpha_range: [-10, 31, 0.5] # [deg], in this range the polars are calculated + reynolds: !!float 1e6 # Reynolds number + headers: [airfoil_id, type, info_dict] + data: + - [1, polars, {csv_file_path: "2D_polars_CFD_NF_combined/1.csv"}] + - [2, polars, {csv_file_path: "2D_polars_CFD_NF_combined/2.csv"}] + - [3, polars, {csv_file_path: "2D_polars_CFD_NF_combined/3.csv"}] + - [4, polars, {csv_file_path: "2D_polars_CFD_NF_combined/4.csv"}] + - [5, polars, {csv_file_path: "2D_polars_CFD_NF_combined/5.csv"}] + - [6, polars, {csv_file_path: "2D_polars_CFD_NF_combined/6.csv"}] + - [7, polars, {csv_file_path: "2D_polars_CFD_NF_combined/7.csv"}] + - [8, polars, {csv_file_path: "2D_polars_CFD_NF_combined/8.csv"}] + - [9, polars, {csv_file_path: "2D_polars_CFD_NF_combined/9.csv"}] + - [10, polars, {csv_file_path: "2D_polars_CFD_NF_combined/10.csv"}] + - [11, polars, {csv_file_path: "2D_polars_CFD_NF_combined/11.csv"}] + - [12, polars, {csv_file_path: "2D_polars_CFD_NF_combined/12.csv"}] + - [13, polars, {csv_file_path: "2D_polars_CFD_NF_combined/13.csv"}] + - [14, polars, {csv_file_path: "2D_polars_CFD_NF_combined/14.csv"}] + - [15, polars, {csv_file_path: "2D_polars_CFD_NF_combined/15.csv"}] + - [16, polars, {csv_file_path: "2D_polars_CFD_NF_combined/16.csv"}] + - [17, polars, {csv_file_path: "2D_polars_CFD_NF_combined/17.csv"}] + - [18, polars, {csv_file_path: "2D_polars_CFD_NF_combined/18.csv"}] + - [19, polars, {csv_file_path: "2D_polars_CFD_NF_combined/19.csv"}] + diff --git a/data/TUDELFT_V3_KITE/aero_geometry.yaml b/data/TUDELFT_V3_KITE/aero_geometry.yaml index d830911af..ebb76e96c 100644 --- a/data/TUDELFT_V3_KITE/aero_geometry.yaml +++ b/data/TUDELFT_V3_KITE/aero_geometry.yaml @@ -75,7 +75,7 @@ wing_airfoils: # - polars: # csv_file_path: Path to polar CSV file (columns: alpha [rad], cl, cd, cm) # - masure_regression: - # t, eta, kappa, delta, lamba, phi: Regression parameters + # t, eta, kappa, delta, lambda, phi: Regression parameters # - inviscid: # no further data is required # --------------------------------------------------------------- @@ -83,25 +83,23 @@ wing_airfoils: reynolds: !!float 1e6 # Reynolds number headers: [airfoil_id, type, info_dict] data: - # The polars were generated using 2D RANS CFD simulations at Re=5e5 - # And fitted using PCHIP interpolation - # See --> https://repository.tudelft.nl/record/uuid:865d59fc-ccff-462e-9bac-e81725f1c0c9 - - [1, polars, {csv_file_path: "polars_CFD/1.csv"}] - - [2, polars, {csv_file_path: "polars_CFD/2.csv"}] - - [3, polars, {csv_file_path: "polars_CFD/3.csv"}] - - [4, polars, {csv_file_path: "polars_CFD/4.csv"}] - - [5, polars, {csv_file_path: "polars_CFD/5.csv"}] - - [6, polars, {csv_file_path: "polars_CFD/6.csv"}] - - [7, polars, {csv_file_path: "polars_CFD/7.csv"}] - - [8, polars, {csv_file_path: "polars_CFD/8.csv"}] - - [9, polars, {csv_file_path: "polars_CFD/9.csv"}] - - [10, polars, {csv_file_path: "polars_CFD/10.csv"}] - - [11, polars, {csv_file_path: "polars_CFD/11.csv"}] - - [12, polars, {csv_file_path: "polars_CFD/12.csv"}] - - [13, polars, {csv_file_path: "polars_CFD/13.csv"}] - - [14, polars, {csv_file_path: "polars_CFD/14.csv"}] - - [15, polars, {csv_file_path: "polars_CFD/15.csv"}] - - [16, polars, {csv_file_path: "polars_CFD/16.csv"}] - - [17, polars, {csv_file_path: "polars_CFD/17.csv"}] - - [18, polars, {csv_file_path: "polars_CFD/18.csv"}] - - [19, polars, {csv_file_path: "polars_CFD/19.csv"}] \ No newline at end of file + - [1, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/1.csv"}] + - [2, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/2.csv"}] + - [3, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/3.csv"}] + - [4, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/4.csv"}] + - [5, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/5.csv"}] + - [6, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/6.csv"}] + - [7, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/7.csv"}] + - [8, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/8.csv"}] + - [9, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/9.csv"}] + - [10, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/10.csv"}] + - [11, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/11.csv"}] + - [12, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/12.csv"}] + - [13, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/13.csv"}] + - [14, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/14.csv"}] + - [15, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/15.csv"}] + - [16, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/16.csv"}] + - [17, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/17.csv"}] + - [18, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/18.csv"}] + - [19, polars, {csv_file_path: "2D_airfoils_polars_plots_BEST/2D_polars_CFD_NF_combined/19.csv"}] + diff --git a/data/TUDELFT_V3_KITE/aero_geometry_old.yaml b/data/TUDELFT_V3_KITE/aero_geometry_old.yaml new file mode 100644 index 000000000..d830911af --- /dev/null +++ b/data/TUDELFT_V3_KITE/aero_geometry_old.yaml @@ -0,0 +1,107 @@ +wing_sections: + # --------------------------------------------------------------- + # headers: + # - airfoil_id: integer, unique identifier for the airfoil (matches wing_airfoils) + # - LE_x: x-coordinate of leading edge + # - LE_y: y-coordinate of leading edge + # - LE_z: z-coordinate of leading edge + # - TE_x: x-coordinate of trailing edge + # - TE_y: y-coordinate of trailing edge + # - TE_z: z-coordinate of trailing edge + # --------------------------------------------------------------- + headers: [airfoil_id, LE_x, LE_y, LE_z, TE_x, TE_y, TE_z] + data: + - [19, 0.10494809354160103, 4.110425010287237, 8.27069488190273, 0.9322352740642089, 4.136759541813347, 8.276769856483405] + - [18, -0.12594856150986303, 4.095312460948618, 8.381752674216157, 0.9480319715306028, 4.119176793915081, 8.387506882641508] + - [17, -0.415204088177974, 4.058392218797549, 8.602739816172805, 0.9806642670037444, 4.0661917809302714, 8.604784652851428] + - [16, -0.5839406178913704, 4.017404143963288, 8.823136130673557, 1.0133061573517872, 4.0126965083918655, 8.821802062421128] + - [15, -0.6731255454312801, 3.9710648600916856, 9.042296994306358, 1.0459407519807051, 3.959304771307195, 9.038711553698102] + - [14, -0.7630010692513897, 3.808661454565653, 9.461650307607462, 1.1148900094481449, 3.8099544198423287, 9.462462687618386] + - [13, -0.8034346573868656, 3.671721332477886, 9.640208096108445, 1.1590484514963157, 3.676560321852442, 9.644355401152323] + - [12, -0.8426236438512831, 3.5037765531662273, 9.793146879047017, 1.2069146554234733, 3.5081098865401383, 9.79813951074277] + - [11, -0.9107041725649544, 3.136094612354681, 10.04874447891271, 1.3282999037052468, 3.1343435230977734, 10.046504069372347] + - [10, -0.9734084029764644, 2.799119438334862, 10.344239736588595, 1.341651389866222, 2.7979060165852596, 10.342401274552168] + - [9, -1.0012604181004636, 2.60606743950073, 10.460915675643339, 1.3470535121521396, 2.607652208222479, 10.4640730423076] + - [8, -1.0255704673876633, 2.3933957820040352, 10.539222758944668, 1.3704766336634273, 2.3946575320852, 10.542717092764684] + - [7, -1.066808167099677, 1.9597511829533572, 10.648710571788577, 1.4286937460004634, 1.9587427796536303, 10.645858306351975] + - [6, -1.102721455861017, 1.5539231291222366, 10.837899390284646, 1.4218476587327253, 1.5529087742581646, 10.834735742551917] + - [5, -1.1174483964012778, 1.3372547196154843, 10.903130724885706, 1.4206278262933396, 1.337221665561774, 10.902962868560538] + - [4, -1.1290037004055944, 1.111273134975715, 10.922140965756022, 1.4350857915331694, 1.1111744842343718, 10.920881486234418] + - [3, -1.1448828836323988, 0.6642030404518473, 10.908203792543517, 1.4733964618305042, 0.6638228115665804, 10.903361447444984] + - [2, -1.1544229650457856, 0.22477286325409476, 10.989264150331223, 1.4484005139953104, 0.2247570459738744, 10.989096462216464] + - [1, -1.1557911914860979, 0.0, 11.00491618799836, 1.443146003226444, 0.0, 11.004972573823276] + - [2, -1.1544229650457856, -0.22477286325409476, 10.989264150331223, 1.4484005139953104, -0.2247570459738744, 10.989096462216464] + - [3, -1.1448828836323988, -0.6642030404518473, 10.908203792543517, 1.4733964618305042, -0.6638228115665804, 10.903361447444984] + - [4, -1.1290037004055944, -1.111273134975715, 10.922140965756022, 1.4350857915331694, -1.1111744842343718, 10.920881486234418] + - [5, -1.1174483964012778, -1.3372547196154843, 10.903130724885706, 1.4206278262933396, -1.337221665561774, 10.902962868560538] + - [6, -1.102721455861017, -1.5539231291222366, 10.837899390284646, 1.4218476587327253, -1.5529087742581646, 10.834735742551917] + - [7, -1.066808167099677, -1.9597511829533572, 10.648710571788577, 1.4286937460004634, -1.9587427796536303, 10.645858306351975] + - [8, -1.0255704673876633, -2.3933957820040352, 10.539222758944668, 1.3704766336634273, -2.3946575320852, 10.542717092764684] + - [9, -1.0012604181004636, -2.60606743950073, 10.460915675643339, 1.3470535121521396, -2.607652208222479, 10.4640730423076] + - [10, -0.9734084029764644, -2.799119438334862, 10.344239736588595, 1.341651389866222, -2.7979060165852596, 10.342401274552168] + - [11, -0.9107041725649544, -3.136094612354681, 10.04874447891271, 1.3282999037052468, -3.1343435230977734, 10.046504069372347] + - [12, -0.8426236438512831, -3.5037765531662273, 9.793146879047017, 1.2069146554234733, -3.5081098865401383, 9.79813951074277] + - [13, -0.8034346573868656, -3.671721332477886, 9.640208096108445, 1.1590484514963157, -3.676560321852442, 9.644355401152323] + - [14, -0.7630010692513897, -3.808661454565653, 9.461650307607462, 1.1148900094481449, -3.8099544198423287, 9.462462687618386] + - [15, -0.6731255454312801, -3.9710648600916856, 9.042296994306358, 1.0459407519807051, -3.959304771307195, 9.038711553698102] + - [16, -0.5839406178913704, -4.017404143963288, 8.823136130673557, 1.0133061573517872, -4.0126965083918655, 8.821802062421128] + - [17, -0.415204088177974, -4.058392218797549, 8.602739816172805, 0.9806642670037444, -4.0661917809302714, 8.604784652851428] + - [18, -0.12594856150986303, -4.095312460948618, 8.381752674216157, 0.9480319715306028, -4.119176793915081, 8.387506882641508] + - [19, 0.10494809354160103, -4.110425010287237, 8.27069488190273, 0.9322352740642089, -4.136759541813347, 8.276769856483405] + +wing_airfoils: + # --------------------------------------------------------------- + # headers: + # - airfoil_id: integer, unique identifier for the airfoil + # - type: one of [neuralfoil, breukels_regression, masure_regression, polars] + # - info_dict: dictionary with parameters depending on 'type' + # + # info_dict fields by type: + # - breukels_regression: + # t: Tube diameter non-dimensionalized by chord (required) + # kappa: Maximum camber height/magnitude, non-dimensionalized by chord (required) + # - neuralfoil: + # dat_file_path: Path to airfoil .dat file (x, y columns) + # model_size: NeuralFoil model size (e.g., "xxxlarge") + # xtr_lower: Lower transition location (0=forced, 1=free) + # xtr_upper: Upper transition location + # n_crit: Critical amplification factor (see guidelines below) + # n_crit guidelines: + # Sailplane: 12–14 + # Motorglider: 11–13 + # Clean wind tunnel: 10–12 + # Average wind tunnel: 9 (standard "e^9 method") + # Dirty wind tunnel: 4–8 + # - polars: + # csv_file_path: Path to polar CSV file (columns: alpha [rad], cl, cd, cm) + # - masure_regression: + # t, eta, kappa, delta, lamba, phi: Regression parameters + # - inviscid: + # no further data is required + # --------------------------------------------------------------- + alpha_range: [-10, 31, 0.5] # [deg], in this range the polars are calculated + reynolds: !!float 1e6 # Reynolds number + headers: [airfoil_id, type, info_dict] + data: + # The polars were generated using 2D RANS CFD simulations at Re=5e5 + # And fitted using PCHIP interpolation + # See --> https://repository.tudelft.nl/record/uuid:865d59fc-ccff-462e-9bac-e81725f1c0c9 + - [1, polars, {csv_file_path: "polars_CFD/1.csv"}] + - [2, polars, {csv_file_path: "polars_CFD/2.csv"}] + - [3, polars, {csv_file_path: "polars_CFD/3.csv"}] + - [4, polars, {csv_file_path: "polars_CFD/4.csv"}] + - [5, polars, {csv_file_path: "polars_CFD/5.csv"}] + - [6, polars, {csv_file_path: "polars_CFD/6.csv"}] + - [7, polars, {csv_file_path: "polars_CFD/7.csv"}] + - [8, polars, {csv_file_path: "polars_CFD/8.csv"}] + - [9, polars, {csv_file_path: "polars_CFD/9.csv"}] + - [10, polars, {csv_file_path: "polars_CFD/10.csv"}] + - [11, polars, {csv_file_path: "polars_CFD/11.csv"}] + - [12, polars, {csv_file_path: "polars_CFD/12.csv"}] + - [13, polars, {csv_file_path: "polars_CFD/13.csv"}] + - [14, polars, {csv_file_path: "polars_CFD/14.csv"}] + - [15, polars, {csv_file_path: "polars_CFD/15.csv"}] + - [16, polars, {csv_file_path: "polars_CFD/16.csv"}] + - [17, polars, {csv_file_path: "polars_CFD/17.csv"}] + - [18, polars, {csv_file_path: "polars_CFD/18.csv"}] + - [19, polars, {csv_file_path: "polars_CFD/19.csv"}] \ No newline at end of file diff --git a/data/TUDELFT_V3_KITE/config_level_1.yaml b/data/TUDELFT_V3_KITE/config_level_1.yaml new file mode 100644 index 000000000..64efd6f0d --- /dev/null +++ b/data/TUDELFT_V3_KITE/config_level_1.yaml @@ -0,0 +1,232 @@ +## inflow conditions +vel_wind: !!seq [12, 0, 0] +vel_kite: !!seq [0, 0, 0] +acc_kite: !!seq [0, 0, 0] + +## case settings +structural_solver: !!str "pss" #"kite_fem" or "pss" +starting_from_sim_of_date: !!str "2026_02_12_1025h_pss" #"2026_02_12_0848h_fem_udp_03" #"2026_02_11_1729h" +is_with_gravity: !!bool true +is_with_aero_bridle: !!bool true +is_with_aero_tether: !!bool false +is_run_only_1_time_step: !!bool false +is_with_initial_point_velocity: !!bool false +is_with_forcing_symmetry: !!bool true +initial_geometry_rotation_deg: !!float 10.0 + +## actuation settings +power_tape_extension_step: !!float 0 #0.02 #0.01 +power_tape_final_extension: !!float 0 #0.3 #0.05 +steering_tape_extension_step: !!float 0 +steering_tape_final_extension: !!float 0.0 + +## output settings +is_with_initial_structure_plot: !!bool true +is_with_coupling_plot_per_iteration: !!bool false +is_with_struc_plot_per_iteration: !!bool false +is_with_aero_plot_per_iteration: !!bool false +is_with_final_plot: !!bool true + +## aerodynamic +aerodynamic: + n_aero_panels_per_struc_section: !!int 3 + spanwise_panel_distribution: !!str "uniform" + max_iterations: !!int 5000 + allowed_error: !!float 1e-6 + relaxation_factor: !!float 0.01 + reference_point: !!seq [0.0, 0.0, 0.0] + +## aerodynamic bridle +aerodynamic_bridle: + cd_cable: !!float 1.1 + cf_cable: !!float 0.01 + +## structural pss +structural_pss: + dt: !!float 0.01 #crucial that this remains low + n_internal_time_steps: !!int 20 #was 20, then 200 + abs_tol: !!float 1.0e-50 + rel_tol: !!float 1.0e-5 + max_iter: !!int 500 + fixed_point_indices: [0] #this is the bridle point / KCU + is_with_diagnostics: !!bool false + num_node_diagnostics: !!int 34 + +## structural kite_fem +structural_kite_fem: + max_iterations: !!int 2000 #used to be 2000 + tolerance: !!float 0.01 + step_limit: !!float 0.1 + relax_init: !!float 0.1 + relax_update: !!float 0.99 + k_update: !!int 1 + I_stiffness: !!int 15 #V3 kite: 25 + is_with_diagnostics: !!bool false + num_node_diagnostics: !!int 34 + # Regularizes K for Newton-Raphson stability. Does NOT affect + # the equilibrium (fe=fi is independent of I_stiffness). + # if pseudo_dt != 0 it overrides I_stiffness when set. + pseudo_dt: !!float 0.1 #0.05 # pseudo-transient timestep [s] for mass-proportional regularization. + k_reg_min: !!float 200.0 # minimum regularization stiffness [N/m] floor for light bridle/steering nodes + print_info: !!bool false + +## aero2struc +aero2struc: + coupling_method: !!str "NN" + eps: !!float 1e-6 + power_for_inverse_weighting: !!float 2.0 + +## coupled +aero_structural_solver: + max_iter: !!int 250 + it_check: !!int 5 + tol: !!float 2 #N + is_with_aitken_relaxation: !!bool true + relaxation_factor: !!float 0.3 #0.05-0.3 + n_max_constant_residual_force: !!int 50 + stagnation_tol: !!float 0.1 # N, tolerance for stagnation detection + +## Physical constants +grav_constant: !!seq [0, 0, -9.81] +rho: !!float 1.225 # air density in kg/m^3 +mu: !!float 1.789e-05 # dynamic viscosity in kg/(m*s) + +# power_tape_index: +# # Stifnesses and damping +# # va ~10 1e4 #2024/03/24 +# # va ~20 5e4 #2024/02/24 +# # va ~30 6e5 +# # va ~40 6.5e5 + +# tubular_frame_stiffness: !!float 2e3 #5e4 +# bridle_line_stiffness: !!float 2e3 #5e4 +# trailing_edge_stiffness: !!float 2e3 #5e4 +# canopy_stiffness: !!float 1e3 +# tubular_frame_damping: !!float 0.0 +# bridle_line_damping: !!float 0.0 +# trailing_edge_damping: !!float 0.0 +# canopy_damping: !!float 0.0 + + +##TODO: +# - write this as material +# - where the material has properties like EA, and damping propertional to EA, and density +# - Then you only have to specify: name, l0, d, material +# - And then get EA, and rho from [material][EA], [material][rho] + + +# fixed_node_indices: !!seq [0, 9,10,11,12] + +# # KCU +# # N.Gechiere --> CD: 0.47, Diameter: 0.38 +# # M.Schelbergen --> CD: 1.0, Area: 0.25 (would be diam: .565m) +# kcu: +# drag_coefficient: !!float 0.47 +# diameter: !!float 0.38 +# index: !!int 0 +# mass: !!float 8.4 + +# # Masses [kg] +# pulley_mass: !!float 0.1 +# wing_mass: !!float 11 + +# sim_name, straight/crosswind/circular +# sim_name: !!str "straight" # <-- NOT USED + +## Actuation +##TODO: remove these old ones (first 3) you don't actually use them +# depower +# u_p: !!float 1.0 # <-- NOT USED +# power_tape_extension_percentage: !!float 8.0 # <-- NOT USED +# steering +# delta_ls_ini: !!float 0.00 # <-- NOT USED +# ## NEW - in meters +# power_tape_extension_step: !!float 0.00 #0.01 +# power_tape_final_extension: !!float 0.00 #0.05 +# steering_tape_extension_step: !!float 0 +# steering_tape_final_extension: !!float 0.0 + + + + # crosswind_max_iter: !!int 50 + # crosswind_tol: !!float 0.01 + # crosswind_relax_factor: !!float 0.5 + +# tether: # set to zero, if you don't want tether force +# diameter: !!float 0.04 # <-- NOT USED +# length: !!float 100.0 # <-- NOT USED +# density: !!float 1.0 # <-- NOT USED + +## output_settings: +# is_print_mid_results: !!bool true + +# is_with_plotly_plot: !!bool false +# is_with_aero_geometry: !!bool false +# is_with_printing: !!bool false + +## plotting +# is_with_plotting: !!bool false +# plot_format: !!str "png" +# plot_elev: !!seq [9.14, 9.14] +# plot_azim: !!seq [90, 230] + +## animation +# is_with_animation: !!bool false +# animation_fps: !!int 10 +# animation_dpi: !!int 100 +# animation_bitrate: !!int 2000 +# animation_elev: !!float 9.14 +# animation_azim: !!float 230.0 + +## simulation_settings +# is_with_velocity_initialisation: !!bool false +# n_vel_initialisation_steps: !!int 10 +# coupling_method: !!str "NN" +# is_from_filename: !!bool false +# is_with_initial_point_velocity: !!bool false +# is_billowing_on: !!bool true +# is_with_gravity: !!bool true +# is_with_aero_bridle: !!bool true +# is_with_aero_tether: !!bool true +# bridle_initial_compression_factor: !!float 1.0 +# geometric_scaling_factor: !!float 1.0 + + + + +#TODO: these are now hardcoded in "solver_utils" +## crosswind flight settings +# tol_fx_ratio_to_fz: !!float 0.0 # <-- NOT USED + + +# settings needed for crosswind & circular case here set to default values +# tol_fx_ratio_to_fz: !!float 0 # <-- NOT USED +# tol_vk_optimization: !!float 0 # <-- NOT USED +# vk_x_initial_guess_factor_of_vw: !!float 0 # <-- NOT USED +# is_with_varying_va: !!bool false # <-- NOT USED +# r_0_initial: !!float 0 # <-- NOT USED + +# Straight case +# is_with_vk_optimization: false # <-- NOT USED +# is_circular_case: false # <-- NOT USED +# is_print_intermediate_results: true # <-- NOT USED +# is_with_gravity: false # <-- NOT USED +# ### inflow conditions +# vel_wind: !!seq [12, 0, 2] +# vel_kite: !!seq [0, 0, 0] +# acc_kite: !!seq [0, 0, 0] + +# # Crosswind case +# is_with_vk_optimization: true +# is_circular_case: false +# is_print_intermediate_results: false +# is_with_gravity: false +# ### inflow conditions +# vel_wind: !!seq [0,0,4] +# # This is an initial guess for the kite velocity +# vel_kite: !!seq [-20, 0, 0] +# acc_kite: !!seq [0, 0, 0] +# ### other +# tol_fx_ratio_to_fz: !!float 0.005 +# tol_vk_optimization: !!float 0.1 +# vk_x_initial_guess_factor_of_vw: !!float -5.0 diff --git a/data/TUDELFT_V3_KITE/config.yaml b/data/TUDELFT_V3_KITE/config_level_2.yaml similarity index 84% rename from data/TUDELFT_V3_KITE/config.yaml rename to data/TUDELFT_V3_KITE/config_level_2.yaml index a1edff87d..73f45ca1d 100644 --- a/data/TUDELFT_V3_KITE/config.yaml +++ b/data/TUDELFT_V3_KITE/config_level_2.yaml @@ -1,5 +1,5 @@ ## inflow conditions -vel_wind: !!seq [12, 0, 4] +vel_wind: !!seq [12, 0, 0] vel_kite: !!seq [0, 0, 0] acc_kite: !!seq [0, 0, 0] @@ -11,6 +11,8 @@ is_with_aero_tether: !!bool false is_run_only_1_time_step: !!bool false is_with_initial_point_velocity: !!bool false is_with_forcing_symmetry: !!bool false +initial_geometry_rotation_deg: !!float 10.0 + ## actuation settings power_tape_extension_step: !!float 0 #0.02 #0.01 @@ -19,7 +21,7 @@ steering_tape_extension_step: !!float 0 steering_tape_final_extension: !!float 0.0 ## output settings -is_with_initial_structure_plot: !!bool true +is_with_initial_structure_plot: !!bool false is_with_coupling_plot_per_iteration: !!bool false is_with_struc_plot_per_iteration: !!bool false is_with_aero_plot_per_iteration: !!bool false @@ -50,13 +52,22 @@ structural_pss: ## structural kite_fem structural_kite_fem: - max_iterations: !!int 2000 + max_iterations: !!int 500 tolerance: !!float 0.01 step_limit: !!float 0.1 relax_init: !!float 0.1 relax_update: !!float 0.99 k_update: !!int 1 I_stiffness: !!int 15 #V3 kite: 25 + # Regularizes K for Newton-Raphson stability. Does NOT affect + # the equilibrium (fe=fi is independent of I_stiffness). + # if pseudo_dt != 0 it overrides I_stiffness when set. + pseudo_dt: !!float 0.2 #0.05 # pseudo-transient timestep [s] for mass-proportional regularization. + k_reg_min: !!float 200.0 # minimum regularization stiffness [N/m] floor for light bridle/steering nodes + # Bridle relaxation preload on origin node(s), typically node 0 (KCU), in +z/-z solver coordinates. + # Keep negative here to pull down in the current setup. + relaxbridles_pull_down_force_z: !!float -1600.0 #roughly the aero dynamic loading at 12m/s + relaxbridles_settle_force_z: !!float -500.0 print_info: !!bool false ## aero2struc @@ -67,9 +78,13 @@ aero2struc: ## coupled aero_structural_solver: - max_iter: !!int 100 + max_iter: !!int 10 it_check: !!int 5 tol: !!float 10 + is_with_aitken_relaxation: !!bool true + relaxation_factor: !!float 0.3 #0.05-0.3 + n_max_constant_residual_force: !!int 50 + stagnation_tol: !!float 0.1 # N, tolerance for stagnation detection ## Physical constants grav_constant: !!seq [0, 0, -9.81] @@ -214,4 +229,4 @@ mu: !!float 1.789e-05 # dynamic viscosity in kg/(m*s) # ### other # tol_fx_ratio_to_fz: !!float 0.005 # tol_vk_optimization: !!float 0.1 -# vk_x_initial_guess_factor_of_vw: !!float -5.0 \ No newline at end of file +# vk_x_initial_guess_factor_of_vw: !!float -5.0 diff --git a/data/TUDELFT_V3_KITE/cp_distributions/cp_AOA_8.dat b/data/TUDELFT_V3_KITE/cp_distributions/cp_AOA_8.dat new file mode 100644 index 000000000..75eb9ffac --- /dev/null +++ b/data/TUDELFT_V3_KITE/cp_distributions/cp_AOA_8.dat @@ -0,0 +1,59 @@ +# x y Cp +0.00106093352703043 0.009046469258067052 -1.0429979768839335 +0.02885514542407597 0.05321522293646556 -2.97701516742313 +0.04040120622143255 0.06291072902875927 -3.321950362170818 +0.05399675986092924 0.07144915477192883 -3.429003607616636 +0.06587533521034071 0.07717347429902713 -3.376878702524202 +0.07799552636294979 0.08179901473482278 -3.254197144337922 +0.1870216529466714 0.09529101859089956 -1.8327874863459042 +0.2784114042826095 0.09028704743105777 -1.1996806915789198 +0.3106619665783404 0.08692971356968779 -1.0297320028124064 +0.3448969536063716 0.08306230186370865 -0.8915062484382064 +0.3931790397022614 0.07732341274896151 -0.7482650769295596 +0.4437200012730869 0.07112018838118041 -0.6372226271092232 +0.5085472107892827 0.06300526498795977 -0.5230590187758586 +0.5859002138042717 0.05319596110636245 -0.4121258594586978 +0.6824259822772941 0.04085560183950949 -0.298421444448391 +0.8093373719000714 0.02455167460498058 -0.17313674963583736 +0.9660562316502389 0.004372544645865283 -0.0386406821187513 +0.993768270458061 0.000802973252239986 -0.02128853044019792 +1.000216009864362 -0.000279890227385287 -0.03062803960527396 +0.9943997089817618 0.0002170811127827793 0.0244731662116314 +0.9818912176243451 0.001828584093814853 0.06971150300101164 +0.960286674485311 0.004611622190581761 0.11726533977474018 +0.9274984236403104 0.00883501341243748 0.1677274935281196 +0.8530499807859604 0.01842190075726221 0.2484797697022198 +0.6588094047445807 0.04337787974553729 0.4164065158335706 +0.5852500607119644 0.05277533327406693 0.4895377938887346 +0.5208166631398357 0.06095334182358406 0.571407956570911 +0.4173409525953314 0.07387363386197163 0.7448626251611238 +0.3922624879189146 0.07693223386512749 0.7709991898354575 +0.3799297067584973 0.0784194374404138 0.7726402699823532 +0.3677534071070601 0.07987434616211128 0.7634659759410414 +0.3557467275473164 0.08129361982160917 0.741382005954384 +0.3322904223011696 0.08401082699279248 0.654753629482031 +0.2570330318015585 0.09174362234289557 0.14088055807058458 +0.237700137204438 0.09320459962989104 0.05907810318650006 +0.2284148315498924 0.09375889647752622 0.04303112368943488 +0.2193869169365694 0.09418446720371103 0.04419401824806442 +0.2106187027457731 0.09448229827809655 0.06265088115711293 +0.1707025886246218 0.09474637369056492 0.2715407898968978 +0.1565453765113058 0.0943433883278578 0.2872016129793902 +0.09590926783756276 0.08644641392015195 0.2638217468843654 +0.0596424493908252 0.07383844242791567 0.350286588153118 +0.04571639419151958 0.06586873418008751 0.3689025452585844 +0.04276388755929555 0.06356556861711357 0.369754792445869 +0.05363791167027467 0.03629681937611275 0.369512825076681 +0.06023799864411321 0.03289369258862966 0.3803300404656592 +0.07295141860002202 0.01956758285390561 0.4525002946292716 +0.07538949147001935 0.0145561611100228 0.4564693840993162 +0.07801937057148131 0.003753985959382214 0.446882922242024 +0.07780867321095557 -0.005517988661109592 0.4783581156255348 +0.06613535838326418 -0.02824710359527738 0.5311348004808492 +0.05709225787431717 -0.03471437303988962 0.484086890575362 +0.05197415418742954 -0.03691972333053082 0.508181593031596 +0.04106259222822374 -0.03905070100038476 0.42315148127032 +0.03734550757143083 -0.03906061142774211 0.428382483023469 +0.0135954264885147 -0.02963656804659672 0.9678991392350302 +0.009641067793166569 -0.0257095339280482 1.0009297902025698 +0.006285174856966845 -0.02126020489420191 0.9426534686983296 diff --git a/data/TUDELFT_V3_KITE/struc_geometry_all_in_surfplan.yaml b/data/TUDELFT_V3_KITE/struc_geometry_all_in_surfplan.yaml deleted file mode 100644 index a5c8cf34b..000000000 --- a/data/TUDELFT_V3_KITE/struc_geometry_all_in_surfplan.yaml +++ /dev/null @@ -1,429 +0,0 @@ -##############################': -## General ###################': - -bridle_point_node: [0, 0, 0] -## Mass': -pulley_mass: 0.1 -kcu_mass: 8.4 -# properties kite -pressure: 0.3 #[bar] -canopy_density: 170 #g/m2 -mass_without_bridles: 11 #kg - -## Material properties': -dyneema: - density: 724 - youngs_modulus: 550000000 - damping_per_stiffness: 0.0 - - - -fixed_point_indices: !!seq [0] # node indices that are fixed in space (0-based) - -###########################': -## Wing ###################': -wing_particles: - headers: [id, x, y, z] - data: - - [1, 0.52218, 4.100957, 8.171215] - - [2, 0.86682, 4.152601, 8.182607] - - [3, -0.183243, 4.085799, 8.404511] - - [4, 0.904737, 4.101072, 8.406125] - - [5, -0.522929, 4.039112, 8.68433] - - [6, 0.951369, 4.0377, 8.681014] - - [7, -0.709238, 3.967978, 9.041356] - - [8, 1.011852, 3.955506, 9.037553] - - [9, -0.79088, 3.80535, 9.459568] - - [10, 1.189372, 3.789238, 9.449439] - - [11, -0.864219, 3.501223, 9.790205] - - [12, 1.256822, 3.485499, 9.772089] - - [13, -0.929298, 3.134335, 10.046493] - - [14, 1.310901, 3.116753, 10.023988] - - [15, -0.986158, 2.7983, 10.342998] - - [16, 1.354755, 2.780285, 10.315722] - - [17, -1.034831, 2.393198, 10.538677] - - [18, 1.390237, 2.380855, 10.504511] - - [19, -1.075348, 1.959729, 10.648648] - - [20, 1.41853, 1.946587, 10.611473] - - [21, -1.107733, 1.553762, 10.837398] - - [22, 1.440421, 1.540958, 10.797442] - - [23, -1.132004, 1.111239, 10.921702] - - [24, 1.456442, 1.107796, 10.877957] - - [25, -1.148177, 0.664252, 10.908834] - - [26, 1.466944, 0.660721, 10.863797] - - [27, -1.156262, 0.225013, 10.991837] - - [28, 1.472144, 0.220752, 10.946209] - - [29, -1.156262, -0.225013, 10.991837] - - [30, 1.472144, -0.220752, 10.946209] - - [31, -1.148177, -0.664252, 10.908834] - - [32, 1.466944, -0.660721, 10.863797] - - [33, -1.132004, -1.111239, 10.921702] - - [34, 1.456442, -1.107796, 10.877957] - - [35, -1.107733, -1.553762, 10.837398] - - [36, 1.440421, -1.540958, 10.797442] - - [37, -1.075348, -1.959729, 10.648648] - - [38, 1.41853, -1.946587, 10.611473] - - [39, -1.034831, -2.393198, 10.538677] - - [40, 1.390237, -2.380855, 10.504511] - - [41, -0.986158, -2.7983, 10.342998] - - [42, 1.354755, -2.780285, 10.315722] - - [43, -0.929298, -3.134335, 10.046493] - - [44, 1.310901, -3.116753, 10.023988] - - [45, -0.864219, -3.501223, 9.790205] - - [46, 1.256822, -3.485499, 9.772089] - - [47, -0.79088, -3.80535, 9.459568] - - [48, 1.189372, -3.789238, 9.449439] - - [49, -0.709238, -3.967978, 9.041356] - - [50, 1.011852, -3.955506, 9.037553] - - [51, -0.522929, -4.039112, 8.68433] - - [52, 0.951369, -4.0377, 8.681014] - - [53, -0.183243, -4.085799, 8.404511] - - [54, 0.904737, -4.101072, 8.406125] - - [55, 0.52218, -4.100957, 8.171215] - - [56, 0.86682, -4.152601, 8.182607] -strut_tubes: - headers: [name, ci, cj, strut_diam_le, strut_diam_te, le_diameter, node_indices] - data: - - - le_tip_start - - 1 - - 2 - - 0.112452 - - 0.112452 - - 0.112452 - - [1,118,120,2] - - - strut_1 - - 7 - - 8 - - 0.105697 - - 0.078907 - - 0.151561 - - [7, 103, 109, 121, 8] - - - strut_2 - - 13 - - 14 - - 0.11049 - - 0.098064 - - 0.178254 - - [13, 96, 99,133, 112, 122, 14] - - - strut_3 - - 19 - - 20 - - 0.131981 - - 0.106299 - - 0.19406 - - [19, 92, 97,132, 111, 123, 20] - - - strut_4 - - 25 - - 26 - - 0.140834 - - 0.105972 - - 0.201615 - - [25, 91, 94,131, 110, 124, 26] - - - strut_5 - - 31 - - 32 - - 0.140834 - - 0.105972 - - 0.201615 - - [31, 57, 60,128, 76, 90, 32] - - - strut_6 - - 37 - - 38 - - 0.131981 - - 0.106299 - - 0.19406 - - [37, 58, 63, 129,77, 89, 38] - - - strut_7 - - 43 - - 44 - - 0.11049 - - 0.098064 - - 0.178254 - - [43, 62, 65, 130,78, 88, 44] - - - strut_8 - - 49 - - 50 - - 0.105697 - - 0.078907 - - 0.151561 - - [49, 69, 75, 87, 50] - - - le_tip_end - - 55 - - 56 - - 0.112452 - - 0.112452 - - 0.112452 - - [55,84,86,56] - -leading_edge_tubes: - headers: [name, ci, cj, diameter] - data: - - [le_run_1, 1, 3, 0.112708] - - [le_run_2, 3, 5, 0.112914] - - [le_run_3, 5, 7, 0.132314] - - [le_run_4, 7, 9, 0.156811] - - [le_run_5, 9, 11, 0.166446] - - [le_run_6, 11, 13, 0.174542] - - [le_run_7, 13, 15, 0.181391] - - [le_run_8, 15, 17, 0.18715] - - [le_run_9, 17, 19, 0.191916] - - [le_run_10, 19, 21, 0.195751] - - [le_run_11, 21, 23, 0.198697] - - [le_run_12, 23, 25, 0.200784] - - [le_run_13, 25, 27, 0.202016] - - [le_run_14, 27, 29, 0.202418] - - [le_run_15, 29, 31, 0.202016] - - [le_run_16, 31, 33, 0.200784] - - [le_run_17, 33, 35, 0.198697] - - [le_run_18, 35, 37, 0.195751] - - [le_run_19, 37, 39, 0.191916] - - [le_run_20, 39, 41, 0.18715] - - [le_run_21, 41, 43, 0.181391] - - [le_run_22, 43, 45, 0.174542] - - [le_run_23, 45, 47, 0.166446] - - [le_run_24, 47, 49, 0.156811] - - [le_run_25, 49, 51, 0.132314] - - [le_run_26, 51, 53, 0.112914] - - [le_run_27, 53, 55, 0.112708] - - # - [le_run_28, 55, 56, 0.112708] - # - [le_run_29, 55, 56, 0.112503] -#############################': -## Bridle ###################': -bridle_particles: - headers: [id, x, y, z] - data: - - [57, -1.123196, -0.658922, 10.840858] - - [58, -1.051436, -1.937954, 10.587051] - - [59, -1.014197, -0.682069, 10.657109] - - [60, -0.966125, -0.659453, 10.847625] - - [61, -0.942461, -1.898143, 10.414487] - - [62, -0.90765, -3.097783, 9.999708] - - [63, -0.901698, -1.939381, 10.591088] - - [64, -0.791988, -3.052266, 9.825994] - - [65, -0.773223, -3.097418, 9.999241] - - [66, -0.769331, -0.887905, 8.971653] - - [67, -0.731702, -1.532504, 8.840653] - - [68, -0.711827, -1.113164, 7.054963] - - [69, -0.692391, -3.921859, 9.027294] - - [70, -0.633144, -0.941442, 3.348039] - - [71, 0.247410, -3.802240, 7.614964] - - [72, -0.618402, -2.172485, 6.506305] - - [73, -0.616812, -3.825134, 8.898422] - - [74, -0.607355, -2.644934, 8.26555] - - [75, -0.589225, -3.908574, 9.023243] - - [76, -0.362112, -0.670112, 10.983556] - - [77, -0.32614, -1.977801, 10.699767] - - [78, -0.256835, -3.148563, 10.064703] - - [79, -0.052295, -0.910001, 3.150542] - - [80, -0.021095, -0.954417, 3.343036] - - [81, 0.089481, -1.087879, 4.021786] - - [82, 0.396111, -1.921865, 5.940081] - - [83, 0.473306, -1.155974, 6.347061] - - [84, 0.61538, -4.142726, 8.125716] - - [85, 0.721499, -3.720852, 7.405888] - - [86, 0.791897, -4.137746, 8.114315] - - [87, 0.839226, -3.891515, 9.018042] - - [88, 1.085876, -3.06996, 9.964095] - - [89, 1.167853, -1.92072, 10.538303] - - [90, 1.204082, -0.654966, 10.790403] - - [91, -1.123196, 0.658922, 10.840858] - - [92, -1.051436, 1.937954, 10.587051] - - [93, -1.014197, 0.682069, 10.657109] - - [94, -0.966125, 0.659453, 10.847625] - - [95, -0.942461, 1.898143, 10.414487] - - [96, -0.90765, 3.097783, 9.999708] - - [97, -0.901698, 1.939381, 10.591088] - - [98, -0.791988, 3.052266, 9.825994] - - [99, -0.773223, 3.097418, 9.999241] - - [100, -0.769331, 0.887905, 8.971653] - - [101, -0.731702, 1.532504, 8.840653] - - [102, -0.711827, 1.113164, 7.054963] - - [103, -0.692391, 3.921859, 9.027294] - - [104, -0.633144, 0.941442, 3.348039] - - [105, 0.247410, 3.802240, 7.614964] - - [106, -0.618402, 2.172485, 6.506305] - - [107, -0.616812, 3.825134, 8.898422] - - [108, -0.607355, 2.644934, 8.26555] - - [109, -0.589225, 3.908574, 9.023243] - - [110, -0.362112, 0.670112, 10.983556] - - [111, -0.32614, 1.977801, 10.699767] - - [112, -0.256835, 3.148563, 10.064703] - - [113, -0.052295, 0.910001, 3.150542] - - [114, -0.021095, 0.954417, 3.343036] - - [115, 0.089481, 1.087879, 4.021786] - - [116, 0.396111, 1.921865, 5.940081] - - [117, 0.473306, 1.155974, 6.347061] - - [118, 0.61538, 4.142726, 8.125716] - - [119, 0.721499, 3.720852, 7.405888] - - [120, 0.791897, 4.137746, 8.114315] - - [121, 0.839226, 3.891515, 9.018042] - - [122, 1.085876, 3.06996, 9.964095] - - [123, 1.167853, 1.92072, 10.538303] - - [124, 1.204082, 0.654966, 10.790403] - ############################## - ### Additional ################### - ############################## - - [125, 0.28625931, 0.0, 2.000] - - [126, 0.13269336, 0.23394851, 1.000] - - [127, 0.13269336, -0.23394851, 1.000] - - [128, -0.741091103507477, -0.673776946680759, 11.0302941121239] - - [129, -0.699915730604499, -1.99208185170321, 10.7401629888476] - - [130, -0.556715089835926, -3.1661181363632, 10.0871727169221] - - [131, -0.741091103507477, 0.673776946680759, 11.0302941121239] - - [132, -0.699915730604499, 1.99208185170321, 10.7401629888476] - - [133, -0.556715089835926, 3.1661181363632, 10.0871727169221] - - [134, -0.5516016, -0.6719445, 10.4569251] - - [135, -0.5130279, -1.9849414, 10.2199650] - - [136, -0.4067750, -3.1573406, 9.5759379] - - [137, -0.5516016, 0.6719445, 10.4569251] - - [138, -0.5130279, 1.9849414, 10.2199650] - - [139, -0.4067750, 3.1573406, 9.5759379] - - - - -bridle_connections: - headers: [name, ci, cj] - data: - - [ab1, 57, 59, 60] - - [ab1, 91, 93, 94] - - [ab2, 58, 61, 63] - - [ab2, 92, 95, 97] - - [ab3, 62, 64, 65] - - [ab3, 96, 98, 99] - - [ab4, 69, 73, 75] - - [ab4, 103, 107, 109] - - [c1, 128, 134] - - [c1, 131, 137] - - [d1, 134, 76] - - [d1, 137, 110] - - [c2, 129, 135] - - [c2, 132, 138] - - [d2, 135, 77] - - [d2, 138, 111] - - [c3, 130, 136] - - [c3, 133, 139] - - [d3, 136, 78] - - [d3, 139, 112] - - - - [abcd1, 59, 66, 134] - - [abcd1, 93, 100, 137] - - [abcd2, 61, 67, 135] - - [abcd2, 95, 101, 138] - - [abcd3, 64, 74, 136] - - [abcd3, 98, 108, 139] - - - [A1, 66, 68] - - [A1, 100, 102] - - [A2, 67, 68] - - [A2, 101, 102] - - [A3, 74, 72] - - [A3, 108, 106] - - [A4, 73, 72] - - [A4, 107, 106] - - [AI, 68, 70] - - [AI, 102, 104] - - [AII, 72, 70] - - [AII, 106, 104] - - - - [br1, 90, 83] - - [br1, 124, 117] - - [br2, 89, 83] - - [br2, 123, 117] - - [br3, 88, 82] - - [br3, 122, 116] - - [br4, 87, 82] - - [br4, 121, 116] - - - [BRII, 83, 81] - - [BRII, 117, 115] - - [BRI, 82, 81] - - [BRI, 116, 115] - - - [brmain 1, 81, 80] - - [brmain 1, 115, 114] - - [brmain ext, 80, 79] - - [brmain ext, 114, 113] - ############################## - ### Additional ################### - ############################## - # front lines - - [AIII,70,71,80] # pulley - - [AIII,104,105,114] # pulley - - [a5,71,53] - - [a5,105,3] - - [amain,70,0] - - [amain,104,0] - - [amain,104,0] - - [amain,104,0] - - # rear lines - - [brmain 3,114,119,126] # pulley - - [brmain 3,80,85,127] # pulley - - [M-line,125,113,126] # pulley - - [M-line,125,79,127] # pulley - - [Steering Tape,126,0] - - [Power Tape,125,0] - - [Steering Tape,127,0] - - [br5,119,120] - - [br5,85,86] - - -bridle_lines: - headers: [name, rest_length, diameter, material, linktype] - data: - #front - - [ab1, 0.330, 0.002, dyneema, "pulley"] - - [ab2, 0.260, 0.002, dyneema, "pulley"] - - [ab3, 0.260, 0.002, dyneema, "pulley"] - - [ab4, 0.220, 0.002, dyneema, "pulley"] - - [abcd1, 3.261, 0.002, dyneema, "pulley"] - - [abcd2, 3.3180, 0.002, dyneema, "pulley"] - - [abcd3, 3.3076, 0.002, dyneema, "pulley"] - - - [a5, 0.234, 0.002, dyneema, "noncompressive"] - - - [c1, 0.445, 0.002, dyneema, "noncompressive"] - - [d1, 0.405, 0.002, dyneema, "noncompressive"] - - [c2, 0.400, 0.002, dyneema, "noncompressive"] - - [d2, 0.375, 0.002, dyneema, "noncompressive"] - - [c3, 0.400, 0.002, dyneema, "noncompressive"] - - [d3, 0.370, 0.002, dyneema, "noncompressive"] - - - [A1, 1.860, 0.002, dyneema, "noncompressive"] - - [A2, 1.798, 0.002, dyneema, "noncompressive"] - - [A3, 1.791, 0.002, dyneema, "noncompressive"] - - [A4, 2.877, 0.002, dyneema, "noncompressive"] - - [AI, 3.670, 0.003, dyneema, "noncompressive"] - - [AII, 3.360, 0.003, dyneema, "noncompressive"] - - [amain, 3.903, 0.004, dyneema, "noncompressive"] - - - #rear - - [br1, 4.407, 0.002, dyneema, "noncompressive"] - - [br2, 4.180, 0.002, dyneema, "noncompressive"] - - [br3, 4.094, 0.002, dyneema, "noncompressive"] - - [br4, 3.550, 0.002, dyneema, "noncompressive"] - - [br5, 0.825, 0.002, dyneema, "noncompressive"] - - - - [BRII, 2.333, 0.002, dyneema, "noncompressive"] - - [BRI, 2.045, 0.002, dyneema, "noncompressive"] - - [brmain 1, 0.610, 0.003, dyneema, "noncompressive"] - - [brmain ext, 0.07, 0.004, dyneema, "noncompressive"] - - ############################## - ### Additional ################### - ############################## - # front lines - - [AIII, 11.420, 0.005, dyneema, "pulley"] - - # rear lines - - [brmain 3, 12.168, 0.002, dyneema, "pulley"] - - [M-line, 4.856, 0.005, dyneema, "pulley"] - - [Steering Tape, 1.6, 0.005, dyneema, "noncompressive"] - - [Power Tape, 2.2, 0.005, dyneema, "noncompressive"] - diff --git a/data/TUDELFT_V3_KITE/struc_geometry_all_in_surfplan_merged_nodes.yaml b/data/TUDELFT_V3_KITE/struc_geometry_all_in_surfplan_merged_nodes.yaml deleted file mode 100644 index 8fb423954..000000000 --- a/data/TUDELFT_V3_KITE/struc_geometry_all_in_surfplan_merged_nodes.yaml +++ /dev/null @@ -1,369 +0,0 @@ -bridle_point_node: [0, 0, 0] -pulley_mass: 0.1 -kcu_mass: 8.4 -dyneema: - density: 724 - youngs_modulus: 550000000 - damping_per_stiffness: 0.0 -wing_particles: - headers: [id, x, y, z] - data: - - [1, 0.52218, 4.100957, 0.921215] - - [2, 0.86682, 4.152601, 0.932607] - - [3, 0.263184, 4.105533, 0.971623] - - [4, 0.874727, 4.141856, 0.979216] - - [5, 0.028112, 4.099444, 1.049881] - - [6, 0.887481, 4.124523, 1.054402] - - [7, -0.183243, 4.085799, 1.154511] - - [8, 0.904737, 4.101072, 1.156125] - - [9, -0.368472, 4.065552, 1.28343] - - [10, 0.926149, 4.071974, 1.282342] - - [11, -0.522929, 4.039112, 1.43433] - - [12, 0.951369, 4.0377, 1.431014] - - [13, -0.639766, 4.006563, 1.604842] - - [14, 0.980052, 3.998721, 1.600098] - - [15, -0.709238, 3.967978, 1.791356] - - [16, 1.011852, 3.955506, 1.787553] - - [17, -0.79088, 3.80535, 2.209568] - - [18, 1.189372, 3.789238, 2.199439] - - [19, -0.864219, 3.501223, 2.540205] - - [20, 1.256822, 3.485499, 2.522089] - - [21, -0.929298, 3.134335, 2.796493] - - [22, 1.310901, 3.116753, 2.773988] - - [23, -0.986158, 2.7983, 3.092998] - - [24, 1.354755, 2.780285, 3.065722] - - [25, -1.034831, 2.393198, 3.288677] - - [26, 1.390237, 2.380855, 3.254511] - - [27, -1.075348, 1.959729, 3.398648] - - [28, 1.41853, 1.946587, 3.361473] - - [29, -1.107733, 1.553762, 3.587398] - - [30, 1.440421, 1.540958, 3.547442] - - [31, -1.132004, 1.111239, 3.671702] - - [32, 1.456442, 1.107796, 3.627957] - - [33, -1.148177, 0.664252, 3.658834] - - [34, 1.466944, 0.660721, 3.613797] - - [35, -1.156262, 0.225013, 3.741837] - - [36, 1.472144, 0.220752, 3.696209] - - [37, -1.156262, -0.225013, 3.741837] - - [38, 1.472144, -0.220752, 3.696209] - - [39, -1.148177, -0.664252, 3.658834] - - [40, 1.466944, -0.660721, 3.613797] - - [41, -1.132004, -1.111239, 3.671702] - - [42, 1.456442, -1.107796, 3.627957] - - [43, -1.107733, -1.553762, 3.587398] - - [44, 1.440421, -1.540958, 3.547442] - - [45, -1.075348, -1.959729, 3.398648] - - [46, 1.41853, -1.946587, 3.361473] - - [47, -1.034831, -2.393198, 3.288677] - - [48, 1.390237, -2.380855, 3.254511] - - [49, -0.986158, -2.7983, 3.092998] - - [50, 1.354755, -2.780285, 3.065722] - - [51, -0.929298, -3.134335, 2.796493] - - [52, 1.310901, -3.116753, 2.773988] - - [53, -0.864219, -3.501223, 2.540205] - - [54, 1.256822, -3.485499, 2.522089] - - [55, -0.79088, -3.80535, 2.209568] - - [56, 1.189372, -3.789238, 2.199439] - - [57, -0.709238, -3.967978, 1.791356] - - [58, 1.011852, -3.955506, 1.787553] - - [59, -0.639766, -4.006563, 1.604842] - - [60, 0.980052, -3.998721, 1.600098] - - [61, -0.522929, -4.039112, 1.43433] - - [62, 0.951369, -4.0377, 1.431014] - - [63, -0.368472, -4.065552, 1.28343] - - [64, 0.926149, -4.071974, 1.282342] - - [65, -0.183243, -4.085799, 1.154511] - - [66, 0.904737, -4.101072, 1.156125] - - [67, 0.028112, -4.099444, 1.049881] - - [68, 0.887481, -4.124523, 1.054402] - - [69, 0.263184, -4.105533, 0.971623] - - [70, 0.874727, -4.141856, 0.979216] - - [71, 0.52218, -4.100957, 0.921215] - - [72, 0.86682, -4.152601, 0.932607] -strut_tubes: - headers: [name, ci, cj, strut_diam_le, strut_diam_te, le_diameter, node_indices] - data: - - - strut_1 - - 15 - - 16 - - 0.105697 - - 0.078907 - - 0.151561 - - [15, 125, 16] - - - strut_2 - - 21 - - 22 - - 0.11049 - - 0.098064 - - 0.178254 - - [21, 115, 128, 22] - - - strut_3 - - 27 - - 28 - - 0.131981 - - 0.106299 - - 0.19406 - - [27, 113, 127, 28] - - - strut_4 - - 33 - - 34 - - 0.140834 - - 0.105972 - - 0.201615 - - [33, 110, 126, 34] - - - strut_5 - - 39 - - 40 - - 0.140834 - - 0.105972 - - 0.201615 - - [39, 76, 92, 40] - - - strut_6 - - 45 - - 46 - - 0.131981 - - 0.106299 - - 0.19406 - - [45, 79, 93, 46] - - - strut_7 - - 51 - - 52 - - 0.11049 - - 0.098064 - - 0.178254 - - [51, 81, 94, 52] - - - strut_8 - - 57 - - 58 - - 0.105697 - - 0.078907 - - 0.151561 - - [57, 91, 58] -leading_edge_tubes: - headers: [name, ci, cj, diameter] - data: - - [le_tip_start, 2, 1, 0.112452] - - [le_run_1, 1, 3, 0.112512] - - [le_run_2, 3, 5, 0.112631] - - [le_run_3, 5, 7, 0.112751] - - [le_run_4, 7, 9, 0.112871] - - [le_run_5, 9, 11, 0.11299] - - [le_run_6, 11, 13, 0.11311] - - [le_run_7, 13, 15, 0.132365] - - [le_run_8, 15, 17, 0.156811] - - [le_run_9, 17, 19, 0.166446] - - [le_run_10, 19, 21, 0.174542] - - [le_run_11, 21, 23, 0.181391] - - [le_run_12, 23, 25, 0.18715] - - [le_run_13, 25, 27, 0.191916] - - [le_run_14, 27, 29, 0.195751] - - [le_run_15, 29, 31, 0.198697] - - [le_run_16, 31, 33, 0.200784] - - [le_run_17, 33, 35, 0.202016] - - [le_run_18, 35, 37, 0.202418] - - [le_run_19, 37, 39, 0.202016] - - [le_run_20, 39, 41, 0.200784] - - [le_run_21, 41, 43, 0.198697] - - [le_run_22, 43, 45, 0.195751] - - [le_run_23, 45, 47, 0.191916] - - [le_run_24, 47, 49, 0.18715] - - [le_run_25, 49, 51, 0.181391] - - [le_run_26, 51, 53, 0.174542] - - [le_run_27, 53, 55, 0.166446] - - [le_run_28, 55, 57, 0.156811] - - [le_run_29, 57, 59, 0.132365] - - [le_run_30, 59, 61, 0.11311] - - [le_run_31, 61, 63, 0.11299] - - [le_run_32, 63, 65, 0.112871] - - [le_run_33, 65, 67, 0.112751] - - [le_run_34, 67, 69, 0.112631] - - [le_run_35, 69, 71, 0.112512] - - [le_tip_end, 71, 72, 0.112452] - - [te_run_1, 72, 70, 0.112512] - - [te_run_2, 70, 68, 0.112631] - - [te_run_3, 68, 66, 0.112751] - - [te_run_4, 66, 64, 0.112871] - - [te_run_5, 64, 62, 0.11299] - - [te_run_6, 62, 60, 0.11311] - - [te_run_7, 60, 58, 0.132365] - - [te_run_8, 58, 56, 0.156811] - - [te_run_9, 56, 54, 0.166446] - - [te_run_10, 54, 52, 0.174542] - - [te_run_11, 52, 50, 0.181391] - - [te_run_12, 50, 48, 0.18715] - - [te_run_13, 48, 46, 0.191916] - - [te_run_14, 46, 44, 0.195751] - - [te_run_15, 44, 42, 0.198697] - - [te_run_16, 42, 40, 0.200784] - - [te_run_17, 40, 38, 0.202016] - - [te_run_18, 38, 36, 0.202418] - - [te_run_19, 36, 34, 0.202016] - - [te_run_20, 34, 32, 0.200784] - - [te_run_21, 32, 30, 0.198697] - - [te_run_22, 30, 28, 0.195751] - - [te_run_23, 28, 26, 0.191916] - - [te_run_24, 26, 24, 0.18715] - - [te_run_25, 24, 22, 0.181391] - - [te_run_26, 22, 20, 0.174542] - - [te_run_27, 20, 18, 0.166446] - - [te_run_28, 18, 16, 0.156811] - - [te_run_29, 16, 14, 0.132365] - - [te_run_30, 14, 12, 0.11311] - - [te_run_31, 12, 10, 0.11299] - - [te_run_32, 10, 8, 0.112871] - - [te_run_33, 8, 6, 0.112751] - - [te_run_34, 6, 4, 0.112631] - - [te_run_35, 4, 2, 0.112512] -bridle_particles: - headers: [id, x, y, z] - data: - - [75, -1.014197, -0.682069, 3.407109] - - [76, -0.966125, -0.659453, 3.597625] - - [77, -0.942461, -1.898143, 3.164487] - - [79, -0.901698, -1.939381, 3.341088] - - [80, -0.791988, -3.052266, 2.575994] - - [81, -0.773223, -3.097418, 2.749241] - - [82, -0.769331, -0.887905, 1.721653] - - [83, -0.731702, -1.532504, 1.590653] - - [84, -0.711827, -1.113164, -0.195037] - - [86, -0.633144, -0.941442, -3.901961] - - [87, -0.630632, -0.910001, -4.099458] - - [88, -0.618402, -2.172485, -0.743695] - - [89, -0.616812, -3.825134, 1.648422] - - [90, -0.607355, -2.644934, 1.01555] - - [91, -0.589225, -3.908574, 1.773243] - - [92, -0.362112, -0.670112, 3.733556] - - [93, -0.32614, -1.977801, 3.449767] - - [94, -0.256835, -3.148563, 2.814703] - - [95, -0.052295, -0.910001, -4.099458] - - [96, -0.021095, -0.954417, -3.906964] - - [97, 0.089481, -1.087879, -3.228214] - - [98, 0.396111, -1.921865, -1.309919] - - [99, 0.473306, -1.155974, -0.902939] - - [101, 0.630484, -3.821673, 0.392361] - - [109, -1.014197, 0.682069, 3.407109] - - [110, -0.966125, 0.659453, 3.597625] - - [111, -0.942461, 1.898143, 3.164487] - - [113, -0.901698, 1.939381, 3.341088] - - [114, -0.791988, 3.052266, 2.575994] - - [115, -0.773223, 3.097418, 2.749241] - - [116, -0.769331, 0.887905, 1.721653] - - [117, -0.731702, 1.532504, 1.590653] - - [118, -0.711827, 1.113164, -0.195037] - - [120, -0.633144, 0.941442, -3.901961] - - [121, -0.630632, 0.910001, -4.099458] - - [122, -0.618402, 2.172485, -0.743695] - - [123, -0.616812, 3.825134, 1.648422] - - [124, -0.607355, 2.644934, 1.01555] - - [125, -0.589225, 3.908574, 1.773243] - - [126, -0.362112, 0.670112, 3.733556] - - [127, -0.32614, 1.977801, 3.449767] - - [128, -0.256835, 3.148563, 2.814703] - - [129, -0.052295, 0.910001, -4.099458] - - [130, -0.021095, 0.954417, -3.906964] - - [131, 0.089481, 1.087879, -3.228214] - - [132, 0.396111, 1.921865, -1.309919] - - [133, 0.473306, 1.155974, -0.902939] - - [135, 0.630484, 3.821673, 0.392361] -bridle_connections: - headers: [name, ci, cj] - data: - - [a1, 39, 75] - - [a1, 33, 109] - - [a2, 45, 77] - - [a2, 27, 111] - - [a3, 51, 80] - - [a3, 21, 114] - - [a4, 57, 89] - - [a4, 15, 123] - - [A1, 75, 82] - - [A1, 109, 116] - - [A2, 77, 83] - - [A2, 111, 117] - - [A3, 80, 90] - - [A3, 114, 124] - - [A4, 89, 88] - - [A4, 123, 122] - - [AI, 82, 84] - - [AI, 116, 118] - - [AII, 83, 84] - - [AII, 117, 118] - - [AIII, 90, 88] - - [AIII, 124, 122] - - [amain, 84, 86] - - [amain, 118, 120] - - [amain2, 88, 86] - - [amain2, 122, 120] - - [a5.1, 86, 87] - - [a5.1, 120, 121] - - [b1, 76, 75] - - [b1, 110, 109] - - [b2, 79, 77] - - [b2, 113, 111] - - [b3, 81, 80] - - [b3, 115, 114] - - [b4, 91, 89] - - [b4, 125, 123] - - [e1, 92, 82] - - [e1, 126, 116] - - [e2, 93, 83] - - [e2, 127, 117] - - [e3, 94, 90] - - [e3, 128, 124] - - [br1, 40, 99] - - [br1, 34, 133] - - [br2, 46, 99] - - [br2, 28, 133] - - [br3, 52, 98] - - [br3, 22, 132] - - [br4, 58, 98] - - [br4, 16, 132] - - [br5, 71, 101] - - [br5, 1, 135] - - [br6, 72, 101] - - [br6, 2, 135] - - [BR1, 99, 97] - - [BR1, 133, 131] - - [BR2, 98, 97] - - [BR2, 132, 131] - - [BR3, 101, 96] - - [BR3, 135, 130] - - [BRI, 97, 96] - - [BRI, 131, 130] - - [brmain, 96, 95] - - [brmain, 130, 129] -bridle_lines: - headers: [name, rest_length, diameter, material, density] - data: - - [a1, 0.214896, 0.002, dyneema, 970] - - [a2, 0.207939, 0.002, dyneema, 970] - - [a3, 0.213602, 0.002, dyneema, 970] - - [a4, 0.177977, 0.002, dyneema, 970] - - [A1, 1.715543, 0.002, dyneema, 970] - - [A2, 1.629437, 0.002, dyneema, 970] - - [A3, 1.623267, 0.002, dyneema, 970] - - [A4, 2.907486, 0.002, dyneema, 970] - - [AI, 1.930738, 0.003, dyneema, 970] - - [AII, 1.834374, 0.003, dyneema, 970] - - [AIII, 1.821612, 0.003, dyneema, 970] - - [amain, 3.711733, 0.004, dyneema, 970] - - [amain2, 3.389739, 0.004, dyneema, 970] - - [a5.1, 0.2, 0.005, dyneema, 970] - - [b1, 0.197785, 0.002, dyneema, 970] - - [b2, 0.185876, 0.002, dyneema, 970] - - [b3, 0.180014, 0.002, dyneema, 970] - - [b4, 0.152655, 0.002, dyneema, 970] - - [e1, 2.064223, 0.002, dyneema, 970] - - [e2, 1.954245, 0.002, dyneema, 970] - - [e3, 1.90091, 0.002, dyneema, 970] - - [br1, 4.53082, 0.002, dyneema, 970] - - [br2, 4.316681, 0.002, dyneema, 970] - - [br3, 4.241059, 0.002, dyneema, 970] - - [br4, 3.680993, 0.002, dyneema, 970] - - [br5, 0.580461, 0.002, dyneema, 970] - - [br6, 0.590505, 0.002, dyneema, 970] - - [BR1, 2.357724, 0.002, dyneema, 970] - - [BR2, 2.114098, 0.002, dyneema, 970] - - [BR3, 5.208639, 0.002, dyneema, 970] - - [BRI, 0.700529, 0.003, dyneema, 970] - - [brmain, 0.2, 0.004, dyneema, 970] diff --git a/data/TUDELFT_V3_KITE/struc_geometry_level_1_manual.yaml b/data/TUDELFT_V3_KITE/struc_geometry_level_1_manual.yaml index 7fa024859..3547ad178 100644 --- a/data/TUDELFT_V3_KITE/struc_geometry_level_1_manual.yaml +++ b/data/TUDELFT_V3_KITE/struc_geometry_level_1_manual.yaml @@ -227,14 +227,14 @@ bridle_elements: headers: [name, l0, d, material, linktype] data: # front lines - - [a6, 11.372, 0.005, dyneema, "pulley"] - - [A5, 2.782, 0.005, dyneema, "noncompressive"] - - [A3, 3.253, 0.005, dyneema, "noncompressive"] - - [A2, 3.352, 0.005, dyneema, "noncompressive"] - - [A1, 3.520, 0.005, dyneema, "noncompressive"] - - [AII, 3.188, 0.01, dyneema, "noncompressive"] - - [AI, 3.420, 0.01, dyneema, "noncompressive"] - - [amain, 4.297, 0.02, dyneema, "noncompressive"] + - [a6, 11.372, 0.002, dyneema, "pulley"] + - [A5, 2.782, 0.002, dyneema, "noncompressive"] + - [A3, 3.253, 0.002, dyneema, "noncompressive"] + - [A2, 3.352, 0.002, dyneema, "noncompressive"] + - [A1, 3.520, 0.002, dyneema, "noncompressive"] + - [AII, 3.188, 0.005, dyneema, "noncompressive"] + - [AI, 3.420, 0.005, dyneema, "noncompressive"] + - [amain, 4.297, 0.005, dyneema, "noncompressive"] # rear lines - [br1, 4.448, 0.002, dyneema, "noncompressive"] - [br2, 4.300, 0.002, dyneema, "noncompressive"] diff --git a/data/TUDELFT_V3_KITE/struc_geometry_level_1_manual_JULIA.yaml b/data/TUDELFT_V3_KITE/struc_geometry_level_1_manual_JULIA.yaml new file mode 100644 index 000000000..d6bfd02ca --- /dev/null +++ b/data/TUDELFT_V3_KITE/struc_geometry_level_1_manual_JULIA.yaml @@ -0,0 +1,519 @@ + +############################## +## General ################### +############################## +bridle_point_node: [0,0,0] #[x,y,z] --> location of kcu + +## Mass +pulley_mass: !!float 0.1 #[kg] #TODO: would be better to define these per pulley +kcu_mass: !!float 8.4 #[kg] + +## Material properties +dyneema: + # (M.B. Ruppert) [Pa] + density: 724 #[kg/m^3] -> m = density * A * l0 + # 0.55 GPa is M.B. Ruppert + # SK75 dyneema has 109-132GPa, but that's for a single fiber, not braided rope. + # Braided Dyneema rope: typically 20–60 GPa effective + youngs_modulus: 2000000000 # 400MPa #3000000000 # 30GPa #550000000 #E:[Pa] -> k = E *A / l0 + damping_per_stiffness: 0.0 # [/s] -> c = damping_per_stiffness * k + +fixed_point_indices: !!seq [0] # node indices that are fixed in space (0-based) + +########################### +## Wing ################### +########################### + +wing_particles: + # id, x [m], y [m], z [m] + headers: [id, x, y, z] + data: + - [1, -0.16686417, 4.07190711, 8.25938552] + - [2, 0.8950856, 4.23504033, 8.28564737] + - [3, -0.66385373, 3.97158462, 9.10345727] + - [4, 0.84466799, 4.04893109, 9.16869541] + - [5, -1.00179344, 3.13938093, 10.08117033] + - [6, 0.95411064, 3.19044693, 10.20618443] + - [7, -1.11933902, 1.96778538, 10.69146438] + - [8, 1.03150699, 1.98490264, 10.81013669] + - [9, -1.16537227, 0.67379745, 10.96630823] + - [10, 1.09790203, 0.6605361, 11.06585663] + - [11, -1.16537227, -0.67379745, 10.96630823] + - [12, 1.09790203, -0.6605361, 11.06585663] + - [13, -1.11933902, -1.96778538, 10.69146438] + - [14, 1.03150699, -1.98490264, 10.81013669] + - [15, -1.00179344, -3.13938093, 10.08117033] + - [16, 0.95411064, -3.19044693, 10.20618443] + - [17, -0.66385373, -3.97158462, 9.10345727] + - [18, 0.84466799, -4.04893109, 9.16869541] + - [19, -0.16686417, -4.07190711, 8.25938552] + - [20, 0.8950856, -4.23504033, 8.28564737] + +wing_connections: + # name, ci, cj + headers: [name, ci, cj] + data: + # Panel 1 (1-2 | 3-4) + - [strut_1, 1, 2] + - [le_1, 1, 3] + - [te_1, 2, 4] + - [dia_1a, 1, 4] + - [dia_1b, 2, 3] + + # Panel 2 (3-4 | 5-6) + - [strut_2, 3, 4] + - [le_2, 3, 5] + - [te_2, 4, 6] + - [dia_2a, 3, 6] + - [dia_2b, 4, 5] + + # Panel 3 (5-6 | 7-8) + - [strut_3, 5, 6] + - [le_3, 5, 7] + - [te_3, 6, 8] + - [dia_3a, 5, 8] + - [dia_3b, 6, 7] + + # Panel 4 (7-8 | 9-10) + - [strut_4, 7, 8] + - [le_4, 7, 9] + - [te_4, 8, 10] + - [dia_4a, 7, 10] + - [dia_4b, 8, 9] + + # Panel 5 (9-10 | 11-12) — center + - [strut_5, 9, 10] + - [le_5, 9, 11] + - [te_5, 10, 12] + - [dia_5a, 9, 12] + - [dia_5b, 10, 11] + + # Panel 6 (11-12 | 13-14) — mirror of Panel 4 + - [strut_5, 11, 12] + - [le_4, 11, 13] + - [te_4, 12, 14] + - [dia_4b, 11, 14] + - [dia_4a, 12, 13] + + # Panel 7 (13-14 | 15-16) — mirror of Panel 3 + - [strut_4, 13, 14] + - [le_3, 13, 15] + - [te_3, 14, 16] + - [dia_3b, 13, 16] + - [dia_3a, 14, 15] + + # Panel 8 (15-16 | 17-18) — mirror of Panel 2 + - [strut_3, 15, 16] + - [le_2, 15, 17] + - [te_2, 16, 18] + - [dia_2b, 15, 18] + - [dia_2a, 16, 17] + + # Panel 9 (17-18 | 19-20) — mirror of Panel 1 (strut only per logic) + - [strut_2, 17, 18] + - [le_1, 17, 19] + - [te_1, 18, 20] + - [dia_1b, 17, 20] + - [dia_1a, 18, 19] + - [strut_1, 19, 20] + +wing_elements: + # line name, measured rest length "l0" [m], stiffness "k" [N/m], damping "c" [N.s/m], mass "m" [kg], linktype + headers: [name, l0, k, c, m, linktype] + data: + # leading-edge tube (LE[i] -- LE[i+1]) + #TODO: stiffness Julia = 1e6 + - [le_1, 0.984642, 1e5, 0, 1, "default"] + - [le_2, 1.327663, 1e5, 0, 1, "default"] + - [le_3, 1.326240, 1e5, 0, 1, "default"] + - [le_4, 1.323655, 1e5, 0, 1, "default"] + - [le_5, 1.347595, 1e5, 0, 1, "default"] + + # struts (chords) + #TODO: stiffness Julia = 1e6 + - [strut_1, 1.074728, 1e5, 0, 1, "default"] + - [strut_2, 1.511911, 1e5, 0, 1, "default"] + - [strut_3, 1.960560, 1e5, 0, 1, "default"] + - [strut_4, 2.154185, 1e5, 0, 1, "default"] + - [strut_5, 2.265501, 1e5, 0, 1, "default"] + + # SCALED BY 95% FOLLOWING PIM'S MEASUREMENTS + # trailing-edge wire (TE[i] -- TE[i+1]) + #TODO: stiffness Julia = 5e5 + - [te_1, 0.858705 , 1e4, 0, 0.2, "default"] + - [te_2, 1.283545 , 1e4, 0, 0.2, "default"] + - [te_3, 1.28307 , 1e4, 0, 0.2, "default"] + - [te_4, 1.283 , 1e4, 0, 0.2, "default"] + - [te_5, 1.254045 , 1e4, 0, 0.2, "default"] + + # diagonal springs (both directions per panel) + #TODO: stiffness Julia = 5e5 + - [dia_1a, 1.360356, 2e3, 0, 0.1, "default"] + - [dia_1b, 1.780032, 2e3, 0, 0.1, "default"] + - [dia_2a, 2.108078, 2e3, 0, 0.1, "default"] + - [dia_2b, 2.251513, 2e3, 0, 0.1, "default"] + - [dia_3a, 2.449188, 2e3, 0, 0.1, "default"] + - [dia_3b, 2.455523, 2e3, 0, 0.1, "default"] + - [dia_4a, 2.601005, 2e3, 0, 0.1, "default"] + - [dia_4b, 2.563136, 2e3, 0, 0.1, "default"] + - [dia_5a, 2.629214, 2e3, 0, 0.1, "default"] + - [dia_5b, 2.629214, 2e3, 0, 0.1, "default"] + + +############################# +## Bridle ################### +############################# + +bridle_particles: + headers: [id, x, y, z] + data: + - [21, -0.4260227680206299, 2.4701688289642334, 6.783493995666504] + - [22, -0.6151168346405029, 0.9393482804298401, 7.411292552947998] + - [23, -0.6151160597801208, -0.9393482804298401, 7.412378787994385] + - [24, -0.4260246753692627, -2.4701688289642334, 6.786358833312988] + - [25, -0.21935299038887024, 1.0118902921676636, 3.763261079788208] + - [26, -0.21934941411018372, -1.0118902921676636, 3.7644500732421875] + - [27, 1.0873112678527832, 2.215370297431946, 6.441896915435791] + - [28, 1.0468595027923584, 0.8404822647571564, 6.9797868728637695] + - [29, 1.0468933582305908, -0.8404822647571564, 6.980763912200928] + - [30, 1.0873174667358398, -2.215370297431946, 6.444467067718506] + - [31, 0.7914344072341919, 1.2038682103157043, 4.68930721282959] + - [32, 0.7914093136787415, -1.2038682103157043, 4.690713882446289] + - [33, 0.6970711946487427, 1.1816951036453247, 4.087015628814697] + - [34, 0.38933032751083374, 0.0012663606321439147, 2.165654420852661] + - [35, 0.6970393657684326, -1.1816951036453247, 4.088396072387695] + - [36, 0.24135585129261017, 0.5845016241073608, 1.4701248407363892] + - [37, 0.24136768281459808, -0.5845016241073608, 1.4708048105239868] + + +bridle_connections: + # name, ci, cj, ck (this is the third node, only exist when a pulley) + headers: [name, ci, cj, ck] + data: + # front lines + - [a6,25,1,33] # pulley + - [A5,3,21] + - [A3,5,21] + - [A2,7,22] + - [A1,9,22] + - [A1,11,23] + - [A2,13,23] + - [A3,15,24] + - [A5,17,24] + - [a6,26,19,35] # pulley + - [AII,21,25] + - [AI,22,25] + - [AI,23,26] + - [AII,24,26] + - [amain,25,0] + - [amain,26,0] + # rear lines + - [br6,33,2,36] # pulley + - [br5,4,27] + - [br3,6,27] + - [br2,8,28] + - [br1,10,28] + - [br1,12,29] + - [br2,14,29] + - [br3,16,30] + - [br5,18,30] + - [br6,35,20,37] # pulley + - [BRII,27,31] + - [BRI,28,31] + - [BRI,29,32] + - [BRII,30,32] + - [BR-main-1,31,33] + - [BR-main-1,32,35] + - [M-line,36,33,34] # pulley + - [M-line,34,35,37] # pulley + - [Steering Tape,36,0] + - [Power Tape,34,0] + - [Steering Tape,37,0] + +bridle_elements: + # line name, measured rest length "l0" [m], stiffness "k" [N/m], damping "c" [N.s/m], diameter "d" [m], density "rho" [kg/m^3] + # dyneema has rho = 970 + headers: [name, l0, d, material, linktype] + data: + # front lines + - [a6, 11.928, 0.002, dyneema, "pulley"] + - [A5, 2.987, 0.003, dyneema, "noncompressive"] + - [A3, 3.61454, 0.003, dyneema, "noncompressive"] + - [A2, 3.6452, 0.003, dyneema, "noncompressive"] + - [A1, 3.78594, 0.003, dyneema, "noncompressive"] + - [AII, 3.36, 0.004, dyneema, "noncompressive"] + - [AI, 3.67, 0.004, dyneema, "noncompressive"] + - [amain, 3.903, 0.005, dyneema, "noncompressive"] + # rear lines + - [br1, 4.407, 0.002, dyneema, "noncompressive"] + - [br2, 4.180, 0.002, dyneema, "noncompressive"] + - [br3, 4.094, 0.002, dyneema, "noncompressive"] + - [br5, 3.550, 0.002, dyneema, "noncompressive"] + - [br6, 13.818, 0.002, dyneema, "pulley"] + - [BRI, 2.333, 0.003, dyneema, "noncompressive"] + - [BRII, 2.045, 0.003, dyneema, "noncompressive"] + - [BR-main-1, 0.61, 0.004, dyneema, "noncompressive"] + - [M-line, 4.998, 0.004, dyneema, "pulley"] + - [Steering Tape, 1.6, 0.004, dyneema, "noncompressive"] + # l_d = 0.2 + u_dp*5 = 0.2 + 0.3*5 = 1.7m + - [Power Tape, 1.7, 0.004, dyneema, "noncompressive"] + + + + +# #### JULIA + +# ########################### +# ## Points ################# +# ########################### +# # Point(idx, pos_cad, type; wing_idx=1, transform_idx=1, +# # mass=0.0, body_frame_damping=0.0, +# # world_frame_damping=0.0) +# # type: STATIC, DYNAMIC, WING, QUASI_STATIC +# # pos_cad is a 3-element array [x, y, z] + +# points: +# headers: [idx, pos_cad, type, wing_idx, transform_idx, +# mass, body_frame_damping, world_frame_damping, area, drag_coeff] +# data: +# # KCU +# - [1, [0.0, 0.0, 0.0], DYNAMIC, 1, 1, 23.25, 0.0, 0.0, 0.48, 0.83] + +# # Wing particles (LE/TE pairs) +# - [2, [-0.16686417, 4.07190711, 8.25938552], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [3, [0.8950856, 4.23504033, 8.28564737], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [4, [-0.66385373, 3.97158462, 9.10345727], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [5, [0.84466799, 4.04893109, 9.16869541], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [6, [-1.00179344, 3.13938093, 10.08117033], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [7, [0.95411064, 3.19044693, 10.20618443], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [8, [-1.11933902, 1.96778538, 10.69146438], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [9, [1.03150699, 1.98490264, 10.81013669], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [10, [-1.16537227, 0.67379745, 10.96630823], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [11, [1.09790203, 0.6605361, 11.06585663], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [12, [-1.16537227, -0.67379745, 10.96630823], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [13, [1.09790203, -0.6605361, 11.06585663], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [14, [-1.11933902, -1.96778538, 10.69146438], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [15, [1.03150699, -1.98490264, 10.81013669], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [16, [-1.00179344, -3.13938093, 10.08117033], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [17, [0.95411064, -3.19044693, 10.20618443], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [18, [-0.66385373, -3.97158462, 9.10345727], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [19, [0.84466799, -4.04893109, 9.16869541], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [20, [-0.16686417, -4.07190711, 8.25938552], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [21, [0.8950856, -4.23504033, 8.28564737], WING, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] + +# # Bridle particles (body frame, with perfect y-symmetry) +# - [22, [-0.4260227680206299, 2.4701688289642334, 6.783493995666504], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [23, [-0.6151168346405029, 0.9393482804298401, 7.411292552947998], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [24, [-0.6151160597801208, -0.9393482804298401, 7.412378787994385], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [25, [-0.4260246753692627, -2.4701688289642334, 6.786358833312988], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [26, [-0.21935299038887024, 1.0118902921676636, 3.763261079788208], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [27, [-0.21934941411018372, -1.0118902921676636, 3.7644500732421875], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [28, [1.0873112678527832, 2.215370297431946, 6.441896915435791], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [29, [1.0468595027923584, 0.8404822647571564, 6.9797868728637695], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [30, [1.0468933582305908, -0.8404822647571564, 6.980763912200928], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [31, [1.0873174667358398, -2.215370297431946, 6.444467067718506], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [32, [0.7914344072341919, 1.2038682103157043, 4.68930721282959], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [33, [0.7914093136787415, -1.2038682103157043, 4.690713882446289], DYNAMIC, 1, 1, 0.0, 30.000, 0.0, 0.0, 0.0] +# - [34, [0.6970711946487427, 1.1816951036453247, 4.087015628814697], DYNAMIC, 1, 1, 0.1, 30.000, 0.0, 0.0, 0.0] +# - [35, [0.38933032751083374, 0.0012663606321439147, 2.165654420852661], DYNAMIC, 1, 1, 0.1, 30.000, 0.0, 0.0, 0.0] +# - [36, [0.6970393657684326, -1.1816951036453247, 4.088396072387695], DYNAMIC, 1, 1, 0.1, 30.000, 0.0, 0.0, 0.0] +# - [37, [0.24135585129261017, 0.5845016241073608, 1.4701248407363892], DYNAMIC, 1, 1, 0.1, 30.000, 0.0, 0.0, 0.0] +# - [38, [0.24136768281459808, -0.5845016241073608, 1.4708048105239868], DYNAMIC, 1, 1, 0.1, 30.000, 0.0, 0.0, 0.0] + +# # Tether and ground particle +# - [39, [0.0, 0.0, -45.0], DYNAMIC, 1, 1, 0.0, 0.0, 0.0, 0.0, 0.0] +# - [40, [0.0, 0.0, -90.0], DYNAMIC, 1, 1, 0.0, 0.0, 0.0, 0.0, 0.0] +# - [41, [0.0, 0.0, -135.0], DYNAMIC, 1, 1, 0.0, 0.0, 0.0, 0.0, 0.0] +# - [42, [0.0, 0.0, -180.0], DYNAMIC, 1, 1, 0.0, 0.0, 0.0, 0.0, 0.0] +# - [43, [0.0, 0.0, -225.0], DYNAMIC, 1, 1, 0.0, 0.0, 0.0, 0.0, 0.0] +# - [44, [0.0, 0.0, -270.0], STATIC, 1, 1, 0.0, 0.0, 0.0, 0.0, 0.0] + +# ########################### +# ## Segments ############### +# ########################### +# # Spring-damper connections between points +# # Supports two formats: +# # 1. Material-based: [id, point_i, point_j, type, l0, diameter_mm, material, compression_frac] +# # - material is an unquoted string reference (e.g., dyneema) +# # - stiffness is auto-calculated: k = E*A/l0 +# # 2. Explicit stiffness: [id, point_i, point_j, type, l0, diameter_mm, axial_stiffness, compression_frac] +# # - axial_stiffness is a number (e.g., 2000.0) +# # - axial_damping defaults to 0.0 +# # type: POWER_LINE, STEERING_LINE, BRIDLE + +# segments: +# headers: [idx, point_i, point_j, type, l0, diameter_mm, axial_stiffness, axial_damping, compression_frac] +# data: +# #TODO: stiffness +# # Wing structural elements - leading edge tubes (hardcoded stiffness, not dyneema) +# # =2e6 for stiffness tubular frame +# # =5e5 stiffness wires +# - [1, 2, 4, POWER_LINE, 0.984642, 1.0, 1e6, 2e3, 1] +# - [2, 4, 6, POWER_LINE, 1.327663, 1.0, 1e6, 2e3, 1] +# - [3, 6, 8, POWER_LINE, 1.326240, 1.0, 1e6, 2e3, 1] +# - [4, 8, 10, POWER_LINE, 1.323655, 1.0, 1e6, 2e3, 1] +# - [5, 10, 12, POWER_LINE, 1.347595, 1.0, 1e6, 2e3, 1] +# - [6, 12, 14, POWER_LINE, 1.323655, 1.0, 1e6, 2e3, 1] +# - [7, 14, 16, POWER_LINE, 1.326240, 1.0, 1e6, 2e3, 1] +# - [8, 16, 18, POWER_LINE, 1.327663, 1.0, 1e6, 2e3, 1] +# - [9, 18, 20, POWER_LINE, 0.984642, 1.0, 1e6, 2e3, 1] + +# #TODO: stiffness +# # Wing structural elements - struts (chords, hardcoded stiffness) +# - [10, 2, 3, POWER_LINE, 1.074728, 1.0, 1e6, 2e3, 1] +# - [11, 4, 5, POWER_LINE, 1.511911, 1.0, 1e6, 2e3, 1] +# - [12, 6, 7, POWER_LINE, 1.960560, 1.0, 1e6, 2e3, 1] +# - [13, 8, 9, POWER_LINE, 2.154185, 1.0, 1e6, 2e3, 1] +# - [14, 10, 11, POWER_LINE, 2.265501, 1.0, 1e6, 2e3, 1] +# - [15, 12, 13, POWER_LINE, 2.265501, 1.0, 1e6, 2e3, 1] +# - [16, 14, 15, POWER_LINE, 2.154185, 1.0, 1e6, 2e3, 1] +# - [17, 16, 17, POWER_LINE, 1.960560, 1.0, 1e6, 2e3, 1] +# - [18, 18, 19, POWER_LINE, 1.511911, 1.0, 1e6, 2e3, 1] +# - [19, 20, 21, POWER_LINE, 1.074728, 1.0, 1e6, 2e3, 1] + +# #TODO: stiffness ratio between LE+struts & wires is crucial for stability +# # Wing structural elements - trailing edge wires (hardcoded stiffness) +# - [20, 3, 5, POWER_LINE, 0.858705, 1.0, 5e5, 5e5, 0.100] #0.9039*0.95 = 0.858705 +# - [21, 5, 7, POWER_LINE, 1.283545, 1.0, 5e5, 5e5, 0.100] #1.3511*0.95 = 1.283545 +# - [22, 7, 9, POWER_LINE, 1.28307, 1.0, 5e5, 5e5, 0.100] #1.3506*0.95 = 1.28307 +# - [23, 9, 11, POWER_LINE, 1.283, 1.0, 5e5, 5e5, 0.100] #1.3505*0.95 = 1.283 +# - [24, 11, 13, POWER_LINE, 1.254045, 1.0, 5e5, 5e5, 0.100] #1.3211*0.95 = 1.254045 +# - [25, 13, 15, POWER_LINE, 1.283, 1.0, 5e5, 5e5, 0.100] #1.3505*0.95 = 1.283 +# - [26, 15, 17, POWER_LINE, 1.28307, 1.0, 5e5, 5e5, 0.100] #1.3506*0.95 = 1.28307 +# - [27, 17, 19, POWER_LINE, 1.283545, 1.0, 5e5, 5e5, 0.100] #1.3511*0.95 = 1.283545 +# - [28, 19, 21, POWER_LINE, 0.858705, 1.0, 5e5, 5e5, 0.100] #0.9039*0.95 = 0.858705 + +# # Wing structural elements - diagonal springs (hardcoded stiffness) +# - [29, 2, 5, POWER_LINE, 1.3604, 1.0, 5e5, 5e5, 0.100] +# - [30, 3, 4, POWER_LINE, 1.78, 1.0, 5e5, 5e5, 0.100] +# - [31, 4, 7, POWER_LINE, 2.1081, 1.0, 5e5, 5e5, 0.100] +# - [32, 5, 6, POWER_LINE, 2.2515, 1.0, 5e5, 5e5, 0.100] +# - [33, 6, 9, POWER_LINE, 2.4492, 1.0, 5e5, 5e5, 0.100] +# - [34, 7, 8, POWER_LINE, 2.4555, 1.0, 5e5, 5e5, 0.100] +# - [35, 8, 11, POWER_LINE, 2.601, 1.0, 5e5, 5e5, 0.100] +# - [36, 9, 10, POWER_LINE, 2.5631, 1.0, 5e5, 5e5, 0.100] +# - [37, 10, 13, POWER_LINE, 2.6292, 1.0, 5e5, 5e5, 0.100] +# - [38, 11, 12, POWER_LINE, 2.6292, 1.0, 5e5, 5e5, 0.100] +# - [39, 12, 15, POWER_LINE, 2.5631, 1.0, 5e5, 5e5, 0.100] +# - [40, 13, 14, POWER_LINE, 2.601, 1.0, 5e5, 5e5, 0.100] +# - [41, 14, 17, POWER_LINE, 2.4555, 1.0, 5e5, 5e5, 0.100] +# - [42, 15, 16, POWER_LINE, 2.4492, 1.0, 5e5, 5e5, 0.100] +# - [43, 16, 19, POWER_LINE, 2.2515, 1.0, 5e5, 5e5, 0.100] +# - [44, 17, 18, POWER_LINE, 2.1081, 1.0, 5e5, 5e5, 0.100] +# - [45, 18, 21, POWER_LINE, 1.78, 1.0, 5e5, 5e5, 0.100] +# - [46, 19, 20, POWER_LINE, 1.3604, 1.0, 5e5, 5e5, 0.100] + +# # Bridle segments - left front lines (non-compressive, using dyneema material) + +# # AIII/Br,main,2 (or a6) +# # AIII/Br,main,2 + a5,e * 2 + a5 +# # 11420 + 2*115 + 278 = 11928 mm total, but pulley +# # 11928 / 2 = 5964 mm per half +# # - [47, 2, 26, BRIDLE, 5.964, 5.0, dyneema, nothing, 0.010] # AIII/Br,main,2 or a6 first half (pulley) +# # - [48, 2, 34, BRIDLE, 5.964, 5.0, dyneema, nothing, 0.010] # AIII/Br,main,2 or a6 second half (pulley) +# # Bart van de Lint: +# # nee, ik maak m korter omdat in het echt de wingtip in shape +# # wordt gehouden door de leading edge shape, maar wij hebben daar +# # geen structuur die de tips vasthoudt. +# # in het echt hangt de bridle line daar slack +# # maar dat gebeurt bij ons niet, omdat de kite geen of weinig +# # twisting stiffness heeft in sim +# # dus= - 0.4m +# - [47, 2, 26, BRIDLE, 5.964, 5.0, dyneema, nothing, 0.010] # AIII/Br,main,2 or a6 first half (pulley) +# - [48, 2, 34, BRIDLE, 5.964, 5.0, dyneema, nothing, 0.010] # AIII/Br,main,2 or a6 second half (pulley) + + +# # A4 TODO: estimation +# # direct laser measurement --> 2910 mm +# # indirect --> A4 + 0.5* a4/b4 = 2877+0.5*220 = 2987.0 +# - [49, 4, 22, BRIDLE, 2.987, 5.0, dyneema, nothing, 0.010] # A4 or A5 + +# # A3 TODO: estimation +# # direct laser measurement -->3450 mm +# # indirect --> A3 + 0.54 *ab3/cd3 + 0.5*a3/b3 = 1791 + 0.54*3076 + 0.5*325 = 3614.54 +# - [50, 6, 22, BRIDLE, 3.61454, 5.0, dyneema, nothing, 0.010] # A3 + +# # A2 #TODO: estimation +# # direct laser measurement --> 3550 mm +# # indirect --> A2 + 0.54*ab2/cd2 +0.5 *a2/b2 = 1798 + 0.54*3180+0.5*260 = 3645.2 +# - [51, 8, 23, BRIDLE, 3.6452, 5.0, dyneema, nothing, 0.010] # A2 + +# # A1 #TODO: laser measurement +# # direct laser measurement --> 3710 mm +# # indirect --> A1 +0.54*ab1/cd1 +0.5*a1/b1 = 1860 +0.54*3261+0.5*330 = 3785.94 +# - [52, 10, 23, BRIDLE, 3.78594, 5.0, dyneema, nothing, 0.010] # A1 + +# # Bridle segments - left rear lines (mirror, non-compressive, using dyneema) +# - [53, 12, 24, BRIDLE, 3.78594 , 5.0, dyneema, nothing, 0.010] # A1 +# - [54, 14, 24, BRIDLE, 3.6452 , 5.0, dyneema, nothing, 0.010] # A2 +# - [55, 16, 25, BRIDLE, 3.61454, 5.0, dyneema, nothing, 0.010] # A3 +# - [56, 18, 25, BRIDLE, 2.987 , 5.0, dyneema, nothing, 0.010] # A4 or A5- original 2.782 +# # zie above, voor a6 lengte correctie +# - [57, 27, 20, BRIDLE, 5.964 , 5.0, dyneema, nothing, 0.010] # a6 first half (pulley) +# - [58, 20, 36, BRIDLE, 5.964 , 5.0, dyneema, nothing, 0.010] # a6 second half (pulley) + +# # Bridle convergence - left side (non-compressive, using dyneema) +# - [59, 22, 26, BRIDLE, 3.36, 10.0, dyneema, nothing, 0.010] # AII outer +# - [60, 23, 26, BRIDLE, 3.67, 10.0, dyneema, nothing, 0.010] # AI inner +# - [61, 24, 27, BRIDLE, 3.67, 10.0, dyneema, nothing, 0.010] # AI inner +# - [62, 25, 27, BRIDLE, 3.36, 10.0, dyneema, nothing, 0.010] # AII outer + +# # Main power lines to KCU (non-compressive, using dyneema) +# - [63, 26, 1, BRIDLE, 3.903, 20, dyneema, nothing, 0.010] # amain +# - [64, 27, 1, BRIDLE, 3.903, 20, dyneema, nothing, 0.010] # amain + +# # Bridle segments - right front lines (non-compressive, using dyneema) + +# # Br,5 (or br6) +# # Br,5 + 2* br5,e + br5 = 12168 + 2*115+1420 = 13818 mm total, but pulley +# # 13818 / 2 = 6909 mm per half +# - [65, 34, 3, BRIDLE, 6.909, 3.0, dyneema, nothing, 0.010] # Br,5 or br6 first half (pulley) +# - [66, 3, 37, BRIDLE, 6.909, 3.0, dyneema, nothing, 0.010] # Br,5 or br6 second half (pulley) +# - [67, 5, 28, BRIDLE, 3.550, 3.0, dyneema, nothing, 0.010] # br,4 or br5 +# - [68, 7, 28, BRIDLE, 4.094, 3.0, dyneema, nothing, 0.010] # br,3 +# - [69, 9, 29, BRIDLE, 4.180, 3.0, dyneema, nothing, 0.010] # br,2 +# - [70, 11,29, BRIDLE, 4.407, 3.0, dyneema, nothing, 0.010] # br,1 + +# # Bridle segments - right rear lines (mirror, non-compressive, using dyneema) +# - [71, 13, 30, BRIDLE, 4.407, 3.0, dyneema, nothing, 0.010] # br,1 +# - [72, 15, 30, BRIDLE, 4.180, 3.0, dyneema, nothing, 0.010] # br,2 +# - [73, 17, 31, BRIDLE, 4.094, 3.0, dyneema, nothing, 0.010] # br,3 +# - [74, 19, 31, BRIDLE, 3.550, 3.0, dyneema, nothing, 0.010] # br,4 or br5 +# - [75, 36, 21, BRIDLE, 6.909, 3.0, dyneema, nothing, 0.010] # br6 first half (pulley) +# - [76, 21, 38, BRIDLE, 6.909, 3.0, dyneema, nothing, 0.010] # br6 second half (pulley) + +# # Bridle convergence - right side (non-compressive, using dyneema) +# - [77, 28, 32, BRIDLE, 2.045, 3.0, dyneema, nothing, 0.010] # BRII (inner) +# - [78, 29, 32, BRIDLE, 2.333, 3.0, dyneema, nothing, 0.010] # BRI (outer) +# - [79, 30, 33, BRIDLE, 2.333, 3.0, dyneema, nothing, 0.010] # BRI (outer) +# - [80, 31, 33, BRIDLE, 2.045, 3.0, dyneema, nothing, 0.010] # BRII (inner) + +# # Right main lines (non-compressive, using dyneema) +# - [81, 32, 34, BRIDLE, 0.61, 3.0, dyneema, nothing, 0.010] # BR-main-1 +# - [82, 33, 36, BRIDLE, 0.61, 3.0, dyneema, nothing, 0.010] # BR-main-1 + +# # Central pulley system - M-line (non-compressive, using dyneema) +# # because Br,main,e is not modelled. Some additional length should be added to the M-line. +# # it is under an supposably 20deg angle +# # 0deg would mean the addition was 2x70mm +# # at 80deg we get, 70/cos(10deg) = 71mm --> addition of 2x71mm = 0.142m +# # that gives us M = 4856+0.142 = 4.998m --> 2499mm per +# - [83, 37, 34, BRIDLE, 2.499, 3.0, dyneema, nothing, 0.010] # M-line first half (pulley) +# - [84, 34, 35, BRIDLE, 2.499, 3.0, dyneema, nothing, 0.010] # M-line second half (pulley) +# - [85, 35, 36, BRIDLE, 2.499, 3.0, dyneema, nothing, 0.010] # M-line first half (pulley) +# - [86, 36, 38, BRIDLE, 2.499, 3.0, dyneema, nothing, 0.010] # M-line second half (pulley) + +# # Final attachment to KCU/tethers (non-compressive, using dyneema) +# - [87, 37, 1, BRIDLE, 1.6, 3.0, dyneema, nothing, 0.010] # Steering Tape +# - [88, 35, 1, BRIDLE, 2.2, 3.0, dyneema, nothing, 0.010] # Power Tape +# - [89, 38, 1, BRIDLE, 1.6, 3.0, dyneema, nothing, 0.010] # Steering Tape + +# - [90, 1, 39, BRIDLE, 45.0, 13.5, dyneema, nothing, 0.010] +# - [91, 39, 40, BRIDLE, 45.0, 13.5, dyneema, nothing, 0.010] +# - [92, 40, 41, BRIDLE, 45.0, 13.5, dyneema, nothing, 0.010] +# - [93, 41, 42, BRIDLE, 45.0, 13.5, dyneema, nothing, 0.010] +# - [94, 42, 43, BRIDLE, 45.0, 13.5, dyneema, nothing, 0.010] +# - [95, 43, 44, BRIDLE, 45.0, 13.5, dyneema, nothing, 0.010] + +# # - [96, 2, 6, POWER_LINE, 0.0, 1.0, 1e6, 10.0, 1.0] +# # - [97, 16, 20, POWER_LINE, 0.0, 1.0, 1e6, 10.0, 1.0] \ No newline at end of file diff --git a/data/TUDELFT_V3_KITE/struc_geometry_level_2_manual.yaml b/data/TUDELFT_V3_KITE/struc_geometry_level_2_manual.yaml index c7672c34b..a5c8cf34b 100644 --- a/data/TUDELFT_V3_KITE/struc_geometry_level_2_manual.yaml +++ b/data/TUDELFT_V3_KITE/struc_geometry_level_2_manual.yaml @@ -1,85 +1,86 @@ +##############################': +## General ###################': + bridle_point_node: [0, 0, 0] +## Mass': pulley_mass: 0.1 kcu_mass: 8.4 +# properties kite +pressure: 0.3 #[bar] +canopy_density: 170 #g/m2 +mass_without_bridles: 11 #kg + +## Material properties': dyneema: density: 724 youngs_modulus: 550000000 damping_per_stiffness: 0.0 + + + +fixed_point_indices: !!seq [0] # node indices that are fixed in space (0-based) + +###########################': +## Wing ###################': wing_particles: headers: [id, x, y, z] data: - [1, 0.52218, 4.100957, 8.171215] - [2, 0.86682, 4.152601, 8.182607] - - [3, 0.263184, 4.105533, 8.221623] - - [4, 0.874727, 4.141856, 8.229216] - - [5, 0.028112, 4.099444, 8.299881] - - [6, 0.887481, 4.124523, 8.304402] - - [7, -0.183243, 4.085799, 8.404511] - - [8, 0.904737, 4.101072, 8.406125] - - [9, -0.368472, 4.065552, 8.53343] - - [10, 0.926149, 4.071974, 8.532342] - - [11, -0.522929, 4.039112, 8.68433] - - [12, 0.951369, 4.0377, 8.681014] - - [13, -0.639766, 4.006563, 8.854842] - - [14, 0.980052, 3.998721, 8.850098] - - [15, -0.709238, 3.967978, 9.041356] - - [16, 1.011852, 3.955506, 9.037552999999999] - - [17, -0.79088, 3.80535, 9.459568] - - [18, 1.189372, 3.789238, 9.449439] - - [19, -0.864219, 3.501223, 9.790205] - - [20, 1.256822, 3.485499, 9.772089] - - [21, -0.929298, 3.134335, 10.046493] - - [22, 1.310901, 3.116753, 10.023988] - - [23, -0.986158, 2.7983, 10.342998] - - [24, 1.354755, 2.780285, 10.315722000000001] - - [25, -1.034831, 2.393198, 10.538677] - - [26, 1.390237, 2.380855, 10.504511] - - [27, -1.075348, 1.959729, 10.648648] - - [28, 1.41853, 1.946587, 10.611473] - - [29, -1.107733, 1.553762, 10.837398] - - [30, 1.440421, 1.540958, 10.797442] - - [31, -1.132004, 1.111239, 10.921702] - - [32, 1.456442, 1.107796, 10.877957] - - [33, -1.148177, 0.664252, 10.908834] - - [34, 1.466944, 0.660721, 10.863797] - - [35, -1.156262, 0.225013, 10.991837] - - [36, 1.472144, 0.220752, 10.946209] - - [37, -1.156262, -0.225013, 10.991837] - - [38, 1.472144, -0.220752, 10.946209] - - [39, -1.148177, -0.664252, 10.908834] - - [40, 1.466944, -0.660721, 10.863797] - - [41, -1.132004, -1.111239, 10.921702] - - [42, 1.456442, -1.107796, 10.877957] - - [43, -1.107733, -1.553762, 10.837398] - - [44, 1.440421, -1.540958, 10.797442] - - [45, -1.075348, -1.959729, 10.648648] - - [46, 1.41853, -1.946587, 10.611473] - - [47, -1.034831, -2.393198, 10.538677] - - [48, 1.390237, -2.380855, 10.504511] - - [49, -0.986158, -2.7983, 10.342998] - - [50, 1.354755, -2.780285, 10.315722000000001] - - [51, -0.929298, -3.134335, 10.046493] - - [52, 1.310901, -3.116753, 10.023988] - - [53, -0.864219, -3.501223, 9.790205] - - [54, 1.256822, -3.485499, 9.772089] - - [55, -0.79088, -3.80535, 9.459568] - - [56, 1.189372, -3.789238, 9.449439] - - [57, -0.709238, -3.967978, 9.041356] - - [58, 1.011852, -3.955506, 9.037552999999999] - - [59, -0.639766, -4.006563, 8.854842] - - [60, 0.980052, -3.998721, 8.850098] - - [61, -0.522929, -4.039112, 8.68433] - - [62, 0.951369, -4.0377, 8.681014] - - [63, -0.368472, -4.065552, 8.53343] - - [64, 0.926149, -4.071974, 8.532342] - - [65, -0.183243, -4.085799, 8.404511] - - [66, 0.904737, -4.101072, 8.406125] - - [67, 0.028112, -4.099444, 8.299881] - - [68, 0.887481, -4.124523, 8.304402] - - [69, 0.263184, -4.105533, 8.221623] - - [70, 0.874727, -4.141856, 8.229216] - - [71, 0.52218, -4.100957, 8.171215] - - [72, 0.86682, -4.152601, 8.182607] + - [3, -0.183243, 4.085799, 8.404511] + - [4, 0.904737, 4.101072, 8.406125] + - [5, -0.522929, 4.039112, 8.68433] + - [6, 0.951369, 4.0377, 8.681014] + - [7, -0.709238, 3.967978, 9.041356] + - [8, 1.011852, 3.955506, 9.037553] + - [9, -0.79088, 3.80535, 9.459568] + - [10, 1.189372, 3.789238, 9.449439] + - [11, -0.864219, 3.501223, 9.790205] + - [12, 1.256822, 3.485499, 9.772089] + - [13, -0.929298, 3.134335, 10.046493] + - [14, 1.310901, 3.116753, 10.023988] + - [15, -0.986158, 2.7983, 10.342998] + - [16, 1.354755, 2.780285, 10.315722] + - [17, -1.034831, 2.393198, 10.538677] + - [18, 1.390237, 2.380855, 10.504511] + - [19, -1.075348, 1.959729, 10.648648] + - [20, 1.41853, 1.946587, 10.611473] + - [21, -1.107733, 1.553762, 10.837398] + - [22, 1.440421, 1.540958, 10.797442] + - [23, -1.132004, 1.111239, 10.921702] + - [24, 1.456442, 1.107796, 10.877957] + - [25, -1.148177, 0.664252, 10.908834] + - [26, 1.466944, 0.660721, 10.863797] + - [27, -1.156262, 0.225013, 10.991837] + - [28, 1.472144, 0.220752, 10.946209] + - [29, -1.156262, -0.225013, 10.991837] + - [30, 1.472144, -0.220752, 10.946209] + - [31, -1.148177, -0.664252, 10.908834] + - [32, 1.466944, -0.660721, 10.863797] + - [33, -1.132004, -1.111239, 10.921702] + - [34, 1.456442, -1.107796, 10.877957] + - [35, -1.107733, -1.553762, 10.837398] + - [36, 1.440421, -1.540958, 10.797442] + - [37, -1.075348, -1.959729, 10.648648] + - [38, 1.41853, -1.946587, 10.611473] + - [39, -1.034831, -2.393198, 10.538677] + - [40, 1.390237, -2.380855, 10.504511] + - [41, -0.986158, -2.7983, 10.342998] + - [42, 1.354755, -2.780285, 10.315722] + - [43, -0.929298, -3.134335, 10.046493] + - [44, 1.310901, -3.116753, 10.023988] + - [45, -0.864219, -3.501223, 9.790205] + - [46, 1.256822, -3.485499, 9.772089] + - [47, -0.79088, -3.80535, 9.459568] + - [48, 1.189372, -3.789238, 9.449439] + - [49, -0.709238, -3.967978, 9.041356] + - [50, 1.011852, -3.955506, 9.037553] + - [51, -0.522929, -4.039112, 8.68433] + - [52, 0.951369, -4.0377, 8.681014] + - [53, -0.183243, -4.085799, 8.404511] + - [54, 0.904737, -4.101072, 8.406125] + - [55, 0.52218, -4.100957, 8.171215] + - [56, 0.86682, -4.152601, 8.182607] strut_tubes: headers: [name, ci, cj, strut_diam_le, strut_diam_te, le_diameter, node_indices] data: @@ -89,325 +90,340 @@ strut_tubes: - 0.112452 - 0.112452 - 0.112452 - - [1,132,134,2] + - [1,118,120,2] - - strut_1 - - 15 - - 16 + - 7 + - 8 - 0.105697 - 0.078907 - 0.151561 - - [15, 111, 16] + - [7, 103, 109, 121, 8] - - strut_2 - - 21 - - 22 + - 13 + - 14 - 0.11049 - 0.098064 - 0.178254 - - [21, 103, 114, 22] + - [13, 96, 99,133, 112, 122, 14] - - strut_3 - - 27 - - 28 + - 19 + - 20 - 0.131981 - 0.106299 - 0.19406 - - [27, 101, 113, 28] + - [19, 92, 97,132, 111, 123, 20] - - strut_4 - - 33 - - 34 + - 25 + - 26 - 0.140834 - 0.105972 - 0.201615 - - [33, 99, 112, 34] + - [25, 91, 94,131, 110, 124, 26] - - strut_5 - - 39 - - 40 + - 31 + - 32 - 0.140834 - 0.105972 - 0.201615 - - [39, 76, 89, 40] + - [31, 57, 60,128, 76, 90, 32] - - strut_6 - - 45 - - 46 + - 37 + - 38 - 0.131981 - 0.106299 - 0.19406 - - [45, 78, 90, 46] + - [37, 58, 63, 129,77, 89, 38] - - strut_7 - - 51 - - 52 + - 43 + - 44 - 0.11049 - 0.098064 - 0.178254 - - [51, 80, 91, 52] + - [43, 62, 65, 130,78, 88, 44] - - strut_8 - - 57 - - 58 + - 49 + - 50 - 0.105697 - 0.078907 - 0.151561 - - [57, 88, 58] + - [49, 69, 75, 87, 50] - - le_tip_end - - 71 - - 72 + - 55 + - 56 - 0.112452 - 0.112452 - 0.112452 - - [71,100,102,72] + - [55,84,86,56] leading_edge_tubes: headers: [name, ci, cj, diameter] data: - - [le_run_1, 1, 3, 0.112512] - - [le_run_2, 3, 5, 0.112631] - - [le_run_3, 5, 7, 0.112751] - - [le_run_4, 7, 9, 0.112871] - - [le_run_5, 9, 11, 0.11299] - - [le_run_6, 11, 13, 0.11311] - - [le_run_7, 13, 15, 0.132365] - - [le_run_8, 15, 17, 0.156811] - - [le_run_9, 17, 19, 0.166446] - - [le_run_10, 19, 21, 0.174542] - - [le_run_11, 21, 23, 0.181391] - - [le_run_12, 23, 25, 0.18715] - - [le_run_13, 25, 27, 0.191916] - - [le_run_14, 27, 29, 0.195751] - - [le_run_15, 29, 31, 0.198697] + - [le_run_1, 1, 3, 0.112708] + - [le_run_2, 3, 5, 0.112914] + - [le_run_3, 5, 7, 0.132314] + - [le_run_4, 7, 9, 0.156811] + - [le_run_5, 9, 11, 0.166446] + - [le_run_6, 11, 13, 0.174542] + - [le_run_7, 13, 15, 0.181391] + - [le_run_8, 15, 17, 0.18715] + - [le_run_9, 17, 19, 0.191916] + - [le_run_10, 19, 21, 0.195751] + - [le_run_11, 21, 23, 0.198697] + - [le_run_12, 23, 25, 0.200784] + - [le_run_13, 25, 27, 0.202016] + - [le_run_14, 27, 29, 0.202418] + - [le_run_15, 29, 31, 0.202016] - [le_run_16, 31, 33, 0.200784] - - [le_run_17, 33, 35, 0.202016] - - [le_run_18, 35, 37, 0.202418] - - [le_run_19, 37, 39, 0.202016] - - [le_run_20, 39, 41, 0.200784] - - [le_run_21, 41, 43, 0.198697] - - [le_run_22, 43, 45, 0.195751] - - [le_run_23, 45, 47, 0.191916] - - [le_run_24, 47, 49, 0.18715] - - [le_run_25, 49, 51, 0.181391] - - [le_run_26, 51, 53, 0.174542] - - [le_run_27, 53, 55, 0.166446] - - [le_run_28, 55, 57, 0.156811] - - [le_run_29, 57, 59, 0.132365] - - [le_run_30, 59, 61, 0.11311] - - [le_run_31, 61, 63, 0.11299] - - [le_run_32, 63, 65, 0.112871] - - [le_run_33, 65, 67, 0.112751] - - [le_run_34, 67, 69, 0.112631] - - [le_run_35, 69, 71, 0.112512] - - [te_run_1, 72, 70, 0.112512] - - [te_run_2, 70, 68, 0.112631] - - [te_run_3, 68, 66, 0.112751] - - [te_run_4, 66, 64, 0.112871] - - [te_run_5, 64, 62, 0.11299] - - [te_run_6, 62, 60, 0.11311] - - [te_run_7, 60, 58, 0.132365] - - [te_run_8, 58, 56, 0.156811] - - [te_run_9, 56, 54, 0.166446] - - [te_run_10, 54, 52, 0.174542] - - [te_run_11, 52, 50, 0.181391] - - [te_run_12, 50, 48, 0.18715] - - [te_run_13, 48, 46, 0.191916] - - [te_run_14, 46, 44, 0.195751] - - [te_run_15, 44, 42, 0.198697] - - [te_run_16, 42, 40, 0.200784] - - [te_run_17, 40, 38, 0.202016] - - [te_run_18, 38, 36, 0.202418] - - [te_run_19, 36, 34, 0.202016] - - [te_run_20, 34, 32, 0.200784] - - [te_run_21, 32, 30, 0.198697] - - [te_run_22, 30, 28, 0.195751] - - [te_run_23, 28, 26, 0.191916] - - [te_run_24, 26, 24, 0.18715] - - [te_run_25, 24, 22, 0.181391] - - [te_run_26, 22, 20, 0.174542] - - [te_run_27, 20, 18, 0.166446] - - [te_run_28, 18, 16, 0.156811] - - [te_run_29, 16, 14, 0.132365] - - [te_run_30, 14, 12, 0.11311] - - [te_run_31, 12, 10, 0.11299] - - [te_run_32, 10, 8, 0.112871] - - [te_run_33, 8, 6, 0.112751] - - [te_run_34, 6, 4, 0.112631] - - [te_run_35, 4, 2, 0.112512] + - [le_run_17, 33, 35, 0.198697] + - [le_run_18, 35, 37, 0.195751] + - [le_run_19, 37, 39, 0.191916] + - [le_run_20, 39, 41, 0.18715] + - [le_run_21, 41, 43, 0.181391] + - [le_run_22, 43, 45, 0.174542] + - [le_run_23, 45, 47, 0.166446] + - [le_run_24, 47, 49, 0.156811] + - [le_run_25, 49, 51, 0.132314] + - [le_run_26, 51, 53, 0.112914] + - [le_run_27, 53, 55, 0.112708] + + # - [le_run_28, 55, 56, 0.112708] + # - [le_run_29, 55, 56, 0.112503] +#############################': +## Bridle ###################': bridle_particles: headers: [id, x, y, z] data: - - [75, -1.014197, -0.682069, 10.657109] - - [76, -0.966125, -0.659453, 10.847625] - - [77, -0.942461, -1.898143, 10.414487] - - [78, -0.901698, -1.939381, 10.591088] - - [79, -0.791988, -3.052266, 9.825994] - - [80, -0.773223, -3.097418, 9.999241] - - [81, -0.769331, -0.887905, 8.971653] - - [82, -0.731702, -1.532504, 8.840653] - - [83, -0.711827, -1.113164, 7.054963] - - [84, -0.633144, -0.941442, 3.348039] - - [85, -0.618402, -2.172485, 6.506305] - - [86, -0.616812, -3.825134, 8.898422] - - [87, -0.607355, -2.644934, 8.26555] - - [88, -0.589225, -3.908574, 9.023243] - - [89, -0.362112, -0.670112, 10.983556] - - [90, -0.32614, -1.977801, 10.699767] - - [91, -0.256835, -3.148563, 10.064703] - - [92, -0.052295, -0.910001, 3.1505419999999997] - - [93, -0.021095, -0.954417, 3.343036] - - [94, 0.089481, -1.087879, 4.0217860000000005] - - [95, 0.396111, -1.921865, 5.940081] - - [96, 0.473306, -1.155974, 6.347061] - - [97, 0.630484, -3.821673, 7.642361] - - [98, -1.014197, 0.682069, 10.657109] - - [99, -0.966125, 0.659453, 10.847625] - - [100, -0.942461, 1.898143, 10.414487] - - [101, -0.901698, 1.939381, 10.591088] - - [102, -0.791988, 3.052266, 9.825994] - - [103, -0.773223, 3.097418, 9.999241] - - [104, -0.769331, 0.887905, 8.971653] - - [105, -0.731702, 1.532504, 8.840653] - - [106, -0.711827, 1.113164, 7.054963] - - [107, -0.633144, 0.941442, 3.348039] - - [108, -0.618402, 2.172485, 6.506305] - - [109, -0.616812, 3.825134, 8.898422] - - [110, -0.607355, 2.644934, 8.26555] - - [111, -0.589225, 3.908574, 9.023243] - - [112, -0.362112, 0.670112, 10.983556] - - [113, -0.32614, 1.977801, 10.699767] - - [114, -0.256835, 3.148563, 10.064703] - - [115, -0.052295, 0.910001, 3.1505419999999997] - - [116, -0.021095, 0.954417, 3.343036] - - [117, 0.089481, 1.087879, 4.0217860000000005] - - [118, 0.396111, 1.921865, 5.940081] - - [119, 0.473306, 1.155974, 6.347061] - - [120, 0.630484, 3.821673, 7.642361] + - [57, -1.123196, -0.658922, 10.840858] + - [58, -1.051436, -1.937954, 10.587051] + - [59, -1.014197, -0.682069, 10.657109] + - [60, -0.966125, -0.659453, 10.847625] + - [61, -0.942461, -1.898143, 10.414487] + - [62, -0.90765, -3.097783, 9.999708] + - [63, -0.901698, -1.939381, 10.591088] + - [64, -0.791988, -3.052266, 9.825994] + - [65, -0.773223, -3.097418, 9.999241] + - [66, -0.769331, -0.887905, 8.971653] + - [67, -0.731702, -1.532504, 8.840653] + - [68, -0.711827, -1.113164, 7.054963] + - [69, -0.692391, -3.921859, 9.027294] + - [70, -0.633144, -0.941442, 3.348039] + - [71, 0.247410, -3.802240, 7.614964] + - [72, -0.618402, -2.172485, 6.506305] + - [73, -0.616812, -3.825134, 8.898422] + - [74, -0.607355, -2.644934, 8.26555] + - [75, -0.589225, -3.908574, 9.023243] + - [76, -0.362112, -0.670112, 10.983556] + - [77, -0.32614, -1.977801, 10.699767] + - [78, -0.256835, -3.148563, 10.064703] + - [79, -0.052295, -0.910001, 3.150542] + - [80, -0.021095, -0.954417, 3.343036] + - [81, 0.089481, -1.087879, 4.021786] + - [82, 0.396111, -1.921865, 5.940081] + - [83, 0.473306, -1.155974, 6.347061] + - [84, 0.61538, -4.142726, 8.125716] + - [85, 0.721499, -3.720852, 7.405888] + - [86, 0.791897, -4.137746, 8.114315] + - [87, 0.839226, -3.891515, 9.018042] + - [88, 1.085876, -3.06996, 9.964095] + - [89, 1.167853, -1.92072, 10.538303] + - [90, 1.204082, -0.654966, 10.790403] + - [91, -1.123196, 0.658922, 10.840858] + - [92, -1.051436, 1.937954, 10.587051] + - [93, -1.014197, 0.682069, 10.657109] + - [94, -0.966125, 0.659453, 10.847625] + - [95, -0.942461, 1.898143, 10.414487] + - [96, -0.90765, 3.097783, 9.999708] + - [97, -0.901698, 1.939381, 10.591088] + - [98, -0.791988, 3.052266, 9.825994] + - [99, -0.773223, 3.097418, 9.999241] + - [100, -0.769331, 0.887905, 8.971653] + - [101, -0.731702, 1.532504, 8.840653] + - [102, -0.711827, 1.113164, 7.054963] + - [103, -0.692391, 3.921859, 9.027294] + - [104, -0.633144, 0.941442, 3.348039] + - [105, 0.247410, 3.802240, 7.614964] + - [106, -0.618402, 2.172485, 6.506305] + - [107, -0.616812, 3.825134, 8.898422] + - [108, -0.607355, 2.644934, 8.26555] + - [109, -0.589225, 3.908574, 9.023243] + - [110, -0.362112, 0.670112, 10.983556] + - [111, -0.32614, 1.977801, 10.699767] + - [112, -0.256835, 3.148563, 10.064703] + - [113, -0.052295, 0.910001, 3.150542] + - [114, -0.021095, 0.954417, 3.343036] + - [115, 0.089481, 1.087879, 4.021786] + - [116, 0.396111, 1.921865, 5.940081] + - [117, 0.473306, 1.155974, 6.347061] + - [118, 0.61538, 4.142726, 8.125716] + - [119, 0.721499, 3.720852, 7.405888] + - [120, 0.791897, 4.137746, 8.114315] + - [121, 0.839226, 3.891515, 9.018042] + - [122, 1.085876, 3.06996, 9.964095] + - [123, 1.167853, 1.92072, 10.538303] + - [124, 1.204082, 0.654966, 10.790403] ############################## ### Additional ################### ############################## - - [121, 0.54344694, 1.57655435, 5.91086207] - - [122, 0.54344694, -1.57655435, 5.91086207] - - [123, 0.28625931, 0.0, 3.19030736] - - [124, 0.13269336, 0.23394851, 1.48060245] - - [125, 0.13269336, -0.23394851, 1.48060245] + - [125, 0.28625931, 0.0, 2.000] + - [126, 0.13269336, 0.23394851, 1.000] + - [127, 0.13269336, -0.23394851, 1.000] + - [128, -0.741091103507477, -0.673776946680759, 11.0302941121239] + - [129, -0.699915730604499, -1.99208185170321, 10.7401629888476] + - [130, -0.556715089835926, -3.1661181363632, 10.0871727169221] + - [131, -0.741091103507477, 0.673776946680759, 11.0302941121239] + - [132, -0.699915730604499, 1.99208185170321, 10.7401629888476] + - [133, -0.556715089835926, 3.1661181363632, 10.0871727169221] + - [134, -0.5516016, -0.6719445, 10.4569251] + - [135, -0.5130279, -1.9849414, 10.2199650] + - [136, -0.4067750, -3.1573406, 9.5759379] + - [137, -0.5516016, 0.6719445, 10.4569251] + - [138, -0.5130279, 1.9849414, 10.2199650] + - [139, -0.4067750, 3.1573406, 9.5759379] + bridle_connections: headers: [name, ci, cj] data: - - [a1, 39, 75, 76] - - [a1, 33, 98,99] - - [a2, 45, 77,78] - - [a2, 27, 100,101] - - [a3, 51, 79,80] - - [a3, 21, 102,103] - - [a4, 57, 86,88] - - [a4, 15, 109,111] - - [A1, 75, 81] - - [A1, 98, 104] - - [A2, 77, 82] - - [A2, 100, 105] - - [A3, 79, 87] - - [A3, 102, 110] - - [A4, 86, 85] - - [A4, 109, 108] - - [AI, 81, 83] - - [AI, 104, 106] - - [AII, 82, 83] - - [AII, 105, 106] - - [AIII, 87, 85] - - [AIII, 110, 108] - - [amain, 83, 84] - - [amain, 106, 107] - - [amain2, 85, 84] - - [amain2, 108, 107] - - [e1, 89, 81] - - [e1, 112, 104] - - [e2, 90, 82] - - [e2, 113, 105] - - [e3, 91, 87] - - [e3, 114, 110] - - [br1, 40, 96] - - [br1, 34, 119] - - [br2, 46, 96] - - [br2, 28, 119] - - [br3, 52, 95] - - [br3, 22, 118] - - [br4, 58, 95] - - [br4, 16, 118] - - [br5, 71, 97] - - [br5, 1, 120] - - [br6, 72, 97] - - [br6, 2, 120] - - [BR1, 96, 94] - - [BR1, 119, 117] - - [BR2, 95, 94] - - [BR2, 118, 117] - - [BR3, 97, 93] - - [BR3, 120, 116] - - [BRI, 94, 93] - - [BRI, 117, 116] - - [brmain, 93, 92] - - [brmain, 116, 115] + - [ab1, 57, 59, 60] + - [ab1, 91, 93, 94] + - [ab2, 58, 61, 63] + - [ab2, 92, 95, 97] + - [ab3, 62, 64, 65] + - [ab3, 96, 98, 99] + - [ab4, 69, 73, 75] + - [ab4, 103, 107, 109] + - [c1, 128, 134] + - [c1, 131, 137] + - [d1, 134, 76] + - [d1, 137, 110] + - [c2, 129, 135] + - [c2, 132, 138] + - [d2, 135, 77] + - [d2, 138, 111] + - [c3, 130, 136] + - [c3, 133, 139] + - [d3, 136, 78] + - [d3, 139, 112] + + + - [abcd1, 59, 66, 134] + - [abcd1, 93, 100, 137] + - [abcd2, 61, 67, 135] + - [abcd2, 95, 101, 138] + - [abcd3, 64, 74, 136] + - [abcd3, 98, 108, 139] + + - [A1, 66, 68] + - [A1, 100, 102] + - [A2, 67, 68] + - [A2, 101, 102] + - [A3, 74, 72] + - [A3, 108, 106] + - [A4, 73, 72] + - [A4, 107, 106] + - [AI, 68, 70] + - [AI, 102, 104] + - [AII, 72, 70] + - [AII, 106, 104] + + + - [br1, 90, 83] + - [br1, 124, 117] + - [br2, 89, 83] + - [br2, 123, 117] + - [br3, 88, 82] + - [br3, 122, 116] + - [br4, 87, 82] + - [br4, 121, 116] + + - [BRII, 83, 81] + - [BRII, 117, 115] + - [BRI, 82, 81] + - [BRI, 116, 115] + + - [brmain 1, 81, 80] + - [brmain 1, 115, 114] + - [brmain ext, 80, 79] + - [brmain ext, 114, 113] ############################## ### Additional ################### ############################## # front lines - - [a6,84,71,93] # pulley - - [a6,107,1,116] # pulley - - [amain,107,0] - - [amain,84,0] + - [AIII,70,71,80] # pulley + - [AIII,104,105,114] # pulley + - [a5,71,53] + - [a5,105,3] + - [amain,70,0] + - [amain,104,0] + - [amain,104,0] + - [amain,104,0] + # rear lines - - [br6,116,2,124] # pulley - - [br6,93,72,125] # pulley - - [M-line,123,115,124] # pulley - - [M-line,123,92,125] # pulley - - [Steering Tape,124,0] - - [Power Tape,123,0] - - [Steering Tape,125,0] + - [brmain 3,114,119,126] # pulley + - [brmain 3,80,85,127] # pulley + - [M-line,125,113,126] # pulley + - [M-line,125,79,127] # pulley + - [Steering Tape,126,0] + - [Power Tape,125,0] + - [Steering Tape,127,0] + - [br5,119,120] + - [br5,85,86] + + bridle_lines: - headers: [name, rest_length, diameter, material, density] + headers: [name, rest_length, diameter, material, linktype] data: - - [a1, 0.214896, 0.002, dyneema, "noncompressive"] - - [a2, 0.207939, 0.002, dyneema, "noncompressive"] - - [a3, 0.213602, 0.002, dyneema, "noncompressive"] - - [a4, 0.177977, 0.002, dyneema, "noncompressive"] - - [A1, 1.715543, 0.002, dyneema, "noncompressive"] - - [A2, 1.629437, 0.002, dyneema, "noncompressive"] - - [A3, 1.623267, 0.002, dyneema, "noncompressive"] - - [A4, 2.907486, 0.002, dyneema, "noncompressive"] - - [AI, 1.930738, 0.003, dyneema, "noncompressive"] - - [AII, 1.834374, 0.003, dyneema, "noncompressive"] - - [AIII, 1.821612, 0.003, dyneema, "noncompressive"] - - [amain, 3.711733, 0.004, dyneema, "noncompressive"] - - [amain2, 3.389739, 0.004, dyneema, "noncompressive"] - - [a5.1, 0.2, 0.005, dyneema, "noncompressive"] - - [b1, 0.197785, 0.002, dyneema, "noncompressive"] - - [b2, 0.185876, 0.002, dyneema, "noncompressive"] - - [b3, 0.180014, 0.002, dyneema, "noncompressive"] - - [b4, 0.152655, 0.002, dyneema, "noncompressive"] - - [e1, 2.064223, 0.002, dyneema, "noncompressive"] - - [e2, 1.954245, 0.002, dyneema, "noncompressive"] - - [e3, 1.90091, 0.002, dyneema, "noncompressive"] - - [br1, 4.53082, 0.002, dyneema, "noncompressive"] - - [br2, 4.316681, 0.002, dyneema, "noncompressive"] - - [br3, 4.241059, 0.002, dyneema, "noncompressive"] - - [br4, 3.680993, 0.002, dyneema, "noncompressive"] - - [br5, 0.580461, 0.002, dyneema, "noncompressive"] - - [br6, 0.590505, 0.002, dyneema, "noncompressive"] - - [BR1, 2.357724, 0.002, dyneema, "noncompressive"] - - [BR2, 2.114098, 0.002, dyneema, "noncompressive"] - - [BR3, 5.208639, 0.002, dyneema, "noncompressive"] - - [BRI, 0.700529, 0.003, dyneema, "noncompressive"] - - [brmain, 0.2, 0.004, dyneema, "noncompressive"] + #front + - [ab1, 0.330, 0.002, dyneema, "pulley"] + - [ab2, 0.260, 0.002, dyneema, "pulley"] + - [ab3, 0.260, 0.002, dyneema, "pulley"] + - [ab4, 0.220, 0.002, dyneema, "pulley"] + - [abcd1, 3.261, 0.002, dyneema, "pulley"] + - [abcd2, 3.3180, 0.002, dyneema, "pulley"] + - [abcd3, 3.3076, 0.002, dyneema, "pulley"] + + - [a5, 0.234, 0.002, dyneema, "noncompressive"] + + - [c1, 0.445, 0.002, dyneema, "noncompressive"] + - [d1, 0.405, 0.002, dyneema, "noncompressive"] + - [c2, 0.400, 0.002, dyneema, "noncompressive"] + - [d2, 0.375, 0.002, dyneema, "noncompressive"] + - [c3, 0.400, 0.002, dyneema, "noncompressive"] + - [d3, 0.370, 0.002, dyneema, "noncompressive"] + + - [A1, 1.860, 0.002, dyneema, "noncompressive"] + - [A2, 1.798, 0.002, dyneema, "noncompressive"] + - [A3, 1.791, 0.002, dyneema, "noncompressive"] + - [A4, 2.877, 0.002, dyneema, "noncompressive"] + - [AI, 3.670, 0.003, dyneema, "noncompressive"] + - [AII, 3.360, 0.003, dyneema, "noncompressive"] + - [amain, 3.903, 0.004, dyneema, "noncompressive"] + + + #rear + - [br1, 4.407, 0.002, dyneema, "noncompressive"] + - [br2, 4.180, 0.002, dyneema, "noncompressive"] + - [br3, 4.094, 0.002, dyneema, "noncompressive"] + - [br4, 3.550, 0.002, dyneema, "noncompressive"] + - [br5, 0.825, 0.002, dyneema, "noncompressive"] + + + - [BRII, 2.333, 0.002, dyneema, "noncompressive"] + - [BRI, 2.045, 0.002, dyneema, "noncompressive"] + - [brmain 1, 0.610, 0.003, dyneema, "noncompressive"] + - [brmain ext, 0.07, 0.004, dyneema, "noncompressive"] + ############################## ### Additional ################### ############################## # front lines - - [a6, 11.372, 0.005, dyneema, "pulley"] - - [A5, 2.782, 0.008, dyneema, "noncompressive"] - - [amain, 4.297, 0.02, dyneema, "noncompressive"] - # rear lines - - [br6, 14.172, 0.002, dyneema, "pulley"] - - [BR-main-1, 0.874, 0.005, dyneema, "noncompressive"] - - [M-line, 2.196, 0.005, dyneema, "pulley"] - - [Steering Tape, 1.506, 0.005, dyneema, "noncompressive"] - - [Power Tape, 3.129, 0.005, dyneema, "noncompressive"] - + - [AIII, 11.420, 0.005, dyneema, "pulley"] + # rear lines + - [brmain 3, 12.168, 0.002, dyneema, "pulley"] + - [M-line, 4.856, 0.005, dyneema, "pulley"] + - [Steering Tape, 1.6, 0.005, dyneema, "noncompressive"] + - [Power Tape, 2.2, 0.005, dyneema, "noncompressive"] diff --git a/examples/load_simulation.py b/examples/load_simulation.py index 8043cc672..5ab80f919 100644 --- a/examples/load_simulation.py +++ b/examples/load_simulation.py @@ -21,9 +21,12 @@ def main(): # load files results_dir = ( - Path(PROJECT_DIR) / "results" / f"TUDELFT_V3_KITE" / f"2025_10_07_1134h" + Path(PROJECT_DIR) / "results" / f"TUDELFT_V3_KITE" / f"2026_02_13_1814h" ) - results_dir = Path(PROJECT_DIR) / "results" / f"3plate_kite" / f"2025_10_16_1227h" + # results_dir = ( + # Path(PROJECT_DIR) / "results" / f"TUDELFT_V3_KITE" / f"2026_02_10_1128h" + # ) + # results_dir = Path(PROJECT_DIR) / "results" / f"3plate_kite" / f"2025_10_16_1227h" h5_path = Path(results_dir) / "sim_output.h5" meta_data_dict, tracking_data = load_sim_output(h5_path) diff --git a/examples/run_simulation_level_1.py b/examples/run_simulation_level_1.py index ed53c9970..590fd6027 100644 --- a/examples/run_simulation_level_1.py +++ b/examples/run_simulation_level_1.py @@ -1,12 +1,3 @@ -""" -### Info - -Author: Jelle Poland \ -Citing: https://doi.org/10.3390/en16145264 \ -License: ... \ -Github: ... -""" - import numpy as np from pathlib import Path from kitesim.logging_config import * @@ -17,17 +8,70 @@ load_sim_output, save_results, printing_rest_lengths, + rotate_geometry, ) from kitesim import ( - aero2struc, + aero2struc_level_1, aerodynamic_vsm, - structural_kite_fem, + aerostructural_coupled_solver_level_1, + read_struc_geometry_yaml_level_1, + structural_kite_fem_level_1, structural_pss, - aerostructural_coupled_solver, - read_struc_geometry_yaml, ) +def _resolve_starting_struc_nodes( + config, + project_dir, + kite_name, + struc_nodes_default, +): + """ + Optionally override start nodes from a previous simulation result folder. + + If config["starting_from_sim_of_date"] is empty, return struc_nodes_default. + Otherwise load results///sim_output.h5 and return the final + node positions from tracking["positions"][-1]. + """ + sim_date = str(config.get("starting_from_sim_of_date", "")).strip() + if sim_date == "": + return struc_nodes_default + + start_dir = Path(project_dir) / "results" / kite_name / sim_date + if not start_dir.exists() or not start_dir.is_dir(): + raise FileNotFoundError( + f"Configured starting simulation directory does not exist: {start_dir}" + ) + + h5_path = start_dir / "sim_output.h5" + if not h5_path.exists(): + raise FileNotFoundError( + f"Configured starting simulation has no sim_output.h5: {h5_path}" + ) + + _, tracking_data = load_sim_output(h5_path) + if "positions" not in tracking_data: + raise KeyError(f"Expected 'positions' dataset in: {h5_path}") + + positions = np.asarray(tracking_data["positions"]) + if positions.ndim != 3 or positions.shape[2] != 3: + raise ValueError( + f"Invalid positions shape in {h5_path}: {positions.shape}. Expected (nt, n_nodes, 3)." + ) + + struc_nodes_loaded = np.array(positions[-1], dtype=float) + if struc_nodes_loaded.shape != np.asarray(struc_nodes_default).shape: + raise ValueError( + "Loaded node shape does not match current geometry. " + f"loaded={struc_nodes_loaded.shape}, current={np.asarray(struc_nodes_default).shape}" + ) + + logging.info( + f"Starting from previous simulation final nodes: {start_dir} (n_nodes={len(struc_nodes_loaded)})" + ) + return struc_nodes_loaded + + # Import modules def main(): """Main function""" @@ -35,12 +79,13 @@ def main(): kite_name = "TUDELFT_V3_KITE" # the dir name with the relevant .yaml files # kite_name = "3plate_kite" # the dir name with the relevant .yaml files # load config.yaml & geometry.yaml, save both, and return them as dicts - config_path = Path(PROJECT_DIR) / "data" / f"{kite_name}" / "config.yaml" + config_path = Path(PROJECT_DIR) / "data" / f"{kite_name}" / "config_level_1.yaml" struc_geometry_path = ( Path(PROJECT_DIR) / "data" / f"{kite_name}" - / "struc_geometry_level_1_manual.yaml" + # / "struc_geometry_level_1_manual.yaml" + / "struc_geometry_level_1_manual_JULIA.yaml" ) aero_geometry_path = ( Path(PROJECT_DIR) / "data" / f"{kite_name}" / "aero_geometry.yaml" @@ -66,8 +111,7 @@ def main(): "n_aero_panels_per_struc_section" ] body_aero, vsm_solver, vel_app, initial_polar_data = aerodynamic_vsm.initialize( - kite_name, - PROJECT_DIR, + aero_geometry_path, config, n_panels_aero, ) @@ -94,7 +138,22 @@ def main(): linktype_arr, pulley_line_indices, pulley_line_to_other_node_pair_dict, - ) = read_struc_geometry_yaml.main(struc_geometry) + ) = read_struc_geometry_yaml_level_1.main(struc_geometry) + + ##################################################### + ### rotating the initial geometry by some angle, + ### to enable the wind to be horizontal + ##################################################### + struc_nodes = rotate_geometry( + struc_nodes, + config["initial_geometry_rotation_deg"], + ) + struc_nodes = _resolve_starting_struc_nodes( + config=config, + project_dir=PROJECT_DIR, + kite_name=kite_name, + struc_nodes_default=struc_nodes, + ) # logging initial conditions logging.info(f"\n\nINITIAL CONDITIONS, NODES \n") @@ -150,7 +209,7 @@ def main(): kite_fem_pulley_matrix, kite_fem_spring_matrix, struc_nodes_initial, - ) = structural_kite_fem.instantiate( + ) = structural_kite_fem_level_1.instantiate( config, struc_geometry, struc_nodes, @@ -162,6 +221,8 @@ def main(): linktype_arr, pulley_line_to_other_node_pair_dict, ) + # Use relaxed/recentered kite_fem geometry as the coupled-solver initial state. + struc_nodes = struc_nodes_initial.copy() # setting psm related output to None psystem = None @@ -171,7 +232,7 @@ def main(): ################## ### AERO2STRUC ### ################## - aero2struc_mapping = aero2struc.initialize_mapping( + aero2struc_mapping = aero2struc_level_1.initialize_mapping( body_aero.panels, struc_nodes, struc_node_le_indices, @@ -223,7 +284,7 @@ def main(): ######################################## ### AEROSTUCTURAL COUPLED SIMULATION ### ######################################## - tracking_data, meta = aerostructural_coupled_solver.main( + tracking_data, meta = aerostructural_coupled_solver_level_1.main( m_arr=m_arr, struc_nodes=struc_nodes, struc_nodes_initial=struc_nodes_initial, diff --git a/examples/run_simulation_level_2.py b/examples/run_simulation_level_2.py index 598d1eac1..1e6e1dfd3 100644 --- a/examples/run_simulation_level_2.py +++ b/examples/run_simulation_level_2.py @@ -1,12 +1,3 @@ -""" -### Info - -Author: Jelle Poland \ -Citing: https://doi.org/10.3390/en16145264 \ -License: ... \ -Github: ... -""" - import numpy as np from pathlib import Path from kitesim.logging_config import * @@ -17,14 +8,15 @@ load_sim_output, save_results, printing_rest_lengths, + rotate_geometry, ) from kitesim import ( - aero2struc, + aero2struc_level_2, aerodynamic_vsm, + aerostructural_coupled_solver_level_2, structural_kite_fem_level_2, structural_pss, - aerostructural_coupled_solver_level_2, - read_struc_geometry_level_2_yaml, + read_struc_geometry_yaml_level_2, ) @@ -35,12 +27,12 @@ def main(): kite_name = "TUDELFT_V3_KITE" # the dir name with the relevant .yaml files # kite_name = "3plate_kite" # the dir name with the relevant .yaml files # load config.yaml & geometry.yaml, save both, and return them as dicts - config_path = Path(PROJECT_DIR) / "data" / f"{kite_name}" / "config.yaml" + config_path = Path(PROJECT_DIR) / "data" / f"{kite_name}" / "config_level_2.yaml" struc_geometry_path = ( Path(PROJECT_DIR) / "data" / f"{kite_name}" - / "struc_geometry_all_in_surfplan.yaml" + / "struc_geometry_level_2_manual.yaml" ) aero_geometry_path = ( Path(PROJECT_DIR) / "data" / f"{kite_name}" / "aero_geometry.yaml" @@ -66,8 +58,7 @@ def main(): "n_aero_panels_per_struc_section" ] body_aero, vsm_solver, vel_app, initial_polar_data = aerodynamic_vsm.initialize( - kite_name, - PROJECT_DIR, + aero_geometry_path, config, n_panels_aero, ) @@ -98,7 +89,16 @@ def main(): linktype_arr, pulley_line_indices, pulley_line_to_other_node_pair_dict, - ) = read_struc_geometry_level_2_yaml.main(struc_geometry) + ) = read_struc_geometry_yaml_level_2.main(struc_geometry) + + ##################################################### + ### rotating the initial geometry by some angle, + ### to enable the wind to be horizontal + ##################################################### + struc_nodes = rotate_geometry( + struc_nodes, + config.get("initial_geometry_rotation_deg", 0.0), + ) # logging initial conditions logging.info(f"\n\nINITIAL CONDITIONS, NODES \n") @@ -112,39 +112,7 @@ def main(): ) if config["structural_solver"] == "pss": - ## pss -- https://github.com/awegroup/Particle_System_Simulator - ##TODO: Fix the comment below, it SHOULD read l0 - # Note: ParticleSystem doesn’t read l0_arr. SpringDamper sets l0 - # from the initial particle positions. - # So l0_arr is a bookkeeping array for you, not used at instantiation. - (psystem, pss_initial_conditions, pss_params, struc_nodes_initial) = ( - structural_pss.instantiate( - # yaml files - config, - # node level - struc_nodes, - m_arr, - # element_level - kite_connectivity_arr, - l0_arr, - k_arr, - c_arr, - linktype_arr, - pulley_line_to_other_node_pair_dict, - ) - ) - if config["is_with_initial_structure_plot"]: - structural_pss.plot_3d_kite_structure( - struc_nodes, - kite_connectivity_arr, - power_tape_index, - k_arr=k_arr, - c_arr=c_arr, - linktype_arr=linktype_arr, - pulley_nodes=pulley_node_indices, - ) - # setting kite_fem related output to None - kite_fem_structure = None + raise NotImplementedError("PSS solver is not implemented for level 2") elif config["structural_solver"] == "kite_fem": ### kite_fem -- https://github.com/awegroup/kite_fem @@ -170,6 +138,8 @@ def main(): ) # setting psm related output to None psystem = None + # resetting struc_nodes, to the relaxed geometry + struc_nodes = np.array(struc_nodes_initial, copy=True) else: raise ValueError("Invalid structural solver specified, either pss or pyfe3d") @@ -177,7 +147,7 @@ def main(): ################## ### AERO2STRUC ### ################## - aero2struc_mapping = aero2struc.initialize_mapping( + aero2struc_mapping = aero2struc_level_2.initialize_mapping( body_aero.panels, struc_nodes, struc_node_le_indices, @@ -259,6 +229,9 @@ def main(): ### STRUC psystem=psystem, kite_fem_structure=kite_fem_structure, + #### TODO: add these back when you switch to better aero2struc coupling + canopy_sections=canopy_sections, + strut_sections=strut_sections, ) # Save results diff --git a/filename.html b/filename.html deleted file mode 100644 index 7f0d79952..000000000 --- a/filename.html +++ /dev/null @@ -1,14 +0,0 @@ - - - -
-
- - \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index ff08c2be0..d911c8dfa 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,11 +1,41 @@ +[project] +name = "ASKITE" +dynamic = ["version"] +description = "A Python package for aero-structural coupled simulations of kites (ASKITE)." +readme = "README.md" +requires-python = ">=3.8" +license = {file = "LICENSE"} +keywords = ["aerodynamics", "wind-energy", "simulation", "vortex-method", "fluid-dynamics", "kite", "paraglider", "airfoil", "python", "numerical-methods", "Airborne Wind Energy", "Kites", "Simulation", "Fluid-Structure Interaction", "Kite Design", "regression", "panel-method", "wake", "stability", "foil", "engineering", "renewable-energy", "modeling", "data-analysis"] +authors = [ + {name = "Jelle, Poland", email = "jellepoland@gmail.com"} +] +maintainers = [ + {name = "Jelle, Poland", email = "jellepoland@gmail.com"} +] +classifiers = [ + # Indicate the development status of your project (maturity). Commonly, this is + # 3 - Alpha + # 4 - Beta + # 5 - Stable + #. 6 - Mature + "Development Status :: 4 - Beta", -[build-system] -requires = ["setuptools >= 61.0"] -build-backend = "setuptools.build_meta" + # Target audience + "Intended Audience :: Developers", + "Topic :: Scientific/Engineering", -[project] -name = "kitesim" -version = "0.1.0" + # License type + "License :: OSI Approved :: MIT License", + + # Python versions your software supports. This is not checked by pip install, and is different from "requires-python". + "Programming Language :: Python :: 3", + "Programming Language :: Python :: 3.8", + "Programming Language :: Python :: 3.9", + "Programming Language :: Python :: 3.10", + "Programming Language :: Python :: 3.11", + "Programming Language :: Python :: 3.12", + "Programming Language :: Python :: 3 :: Only", +] dependencies = [ "numpy", "matplotlib", @@ -23,41 +53,37 @@ dependencies = [ "ipywidgets", "pydantic", "h5py", - "tables", "tqdm", - "PSS @ git+https://github.com/awegroup/Particle_System_Simulator.git@v1.0.0", - "VSM @ git+https://github.com/awegroup/Vortex-Step-Method.git@v2.0.0", + "PSS @ git+https://github.com/awegroup/Particle_System_Simulator.git@v1.0.2", + "VSM @ git+https://github.com/awegroup/Vortex-Step-Method.git@v2.1.2", "pathlib", - "kite_fem @ git+https://github.com/awegroup/kite_fem.git@main" -] -requires-python = ">=3.8" -authors = [ - {name = "Jelle Poland"} + "kite_fem @ git+https://github.com/awegroup/kite_fem.git@mass_proportional_regularisation" ] -maintainers = [ - {name = "Jelle Poland"} -] -description = "A package for simulating kites in the atmosphere" -readme = "README.md" -keywords = ["Airborne Wind Energy", "Kites", "Simulation", "Fluid-Structure Interaction", "Kite Design"] -classifiers = [ - "Development Status :: 3 - Alpha", - "Programming Language :: Python", - "Intended Audience :: Kite Designers, Developers", -] -[tool.setuptools.packages.find] -where = ["src"] - -[tool.pytest.ini_options] -addopts = "--cov=kitesim" - [project.optional-dependencies] dev = [ - "pytest", - "black", - "flake8", - "pytest-cov" - ] + "pytest", + "pytest-cov", + "black", + ] +# List of relevant URLs for your project. These are displayed on the left sidebar of your PyPI page. +# This can include links to the homepage, source code, changelog, funding, etc. [project.urls] -Repository = "https://github.com/jellepoland/kitesim.git" +"Homepage" = "https://github.com/awegroup/ASKITE" +"Source" = "https://github.com/awegroup/ASKITE" +"Documentation" = "https://github.com/awegroup/ASKITE#readme" +#"Changelog" = "https://github.com/awegroup/ASKITE/releases" +#"Funding" = "https://github.com/awegroup/ASKITE#funding" +"Bug Tracker" = "https://github.com/awegroup/ASKITE/issues" +"Download" = "https://github.com/awegroup/ASKITE/releases" +# To grab all the files from the src folders of installed packages, not only the .py files +[tool.setuptools.packages.find] +where = ["src"] + +[build-system] +requires = ["setuptools>=61", "wheel", "setuptools-scm>=8"] +build-backend = "setuptools.build_meta" + +[tool.setuptools_scm] +version_scheme = "release-branch-semver" +local_scheme = "no-local-version" \ No newline at end of file diff --git a/src/kitesim/aero2struc.py b/src/kitesim/aero2struc.py deleted file mode 100644 index 843d6d8ea..000000000 --- a/src/kitesim/aero2struc.py +++ /dev/null @@ -1,263 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt - - -# TODO: this should be placed in a more general plotting place/module -def plot_aerodynamic_forces_chordwise_distributed( - panel_cps, - f_aero_chordwise, - nodes_struc, - force_struc=None, -): - """ - Plot aerodynamic forces distributed chordwise and mapped to structural nodes. - - Args: - panel_cps (np.ndarray): panel cps (n,3). - f_aero_chordwise (np.ndarray): Chordwise aerodynamic forces (n,3). - nodes_struc (np.ndarray): Structural node positions (n_nodes,3). - force_struc (np.ndarray, optional): Forces on structural nodes (n_nodes,3). - - Returns: - None. Displays a 3D plot. - """ - - # Create a new figure and set up 3D axes - fig = plt.figure() - ax = fig.add_subplot(111, projection="3d") - - # Scatter plot of chordwise points (blue) - ax.scatter( - panel_cps[:, 0], - panel_cps[:, 1], - panel_cps[:, 2], - color="black", - label="Panel center of pressure", - ) - - # Quiver plot for the forces (red arrows) - ax.quiver( - panel_cps[:, 0], - panel_cps[:, 1], - panel_cps[:, 2], - f_aero_chordwise[:, 0], - f_aero_chordwise[:, 1], - f_aero_chordwise[:, 2], - # length=1, - # normalize=True, - length=0.01, - color="black", - label="Panel force vector", - ) - - if force_struc is None: - # Scatter plot of structural nodes (wing segment corners) - ax.scatter( - nodes_struc[:, 0], - nodes_struc[:, 1], - nodes_struc[:, 2], - color="black", - label="Wing Segment Corners", - ) - - # Annotate each point with its index - for idx, point in enumerate(nodes_struc): - ax.text(point[0], point[1], point[2], f"{idx}", color="black") - else: - # Scatter plot of structural nodes (wing segment corners) (green) - ax.scatter( - nodes_struc[:, 0], - nodes_struc[:, 1], - nodes_struc[:, 2], - color="blue", - label="Structural nodes", - ) - - # Quiver plot for the forces on structural nodes (yellow arrows) - ax.quiver( - nodes_struc[:, 0], - nodes_struc[:, 1], - nodes_struc[:, 2], - force_struc[:, 0], - force_struc[:, 1], - force_struc[:, 2], - # length=1, - length=0.01, - # normalize=True, - color="red", - label="Mapped aerodynamic force vector onto structural nodes", - ) - - # Set equal scale for all axes - points_all = np.concatenate((panel_cps, nodes_struc), axis=0) - bb = points_all.max(axis=0) - points_all.min(axis=0) - ax.set_xlabel("X") - ax.set_ylabel("Y") - ax.set_zlabel("Z") - ax.set_box_aspect(bb) - ax.set_title("Aerodynamic Forces and Structural Nodes") - ax.legend() - plt.show() - - -def aero2struc_NN_vsm( - f_aero_wing_vsm_format: np.ndarray, - struc_nodes: np.ndarray, - panel_cps: np.ndarray, - panel_corner_map: np.ndarray, - power_for_inverse_weighting: float = 2, - eps: float = 1e-6, - is_with_coupling_plot: bool = False, -): - """ - Distribute each panel's resultant force (at its CoP) onto the four - structural corner nodes given in panel_corner_map using inverse-distance weighting. - - Args: - f_aero_wing_vsm_format (np.ndarray): Aerodynamic forces per panel (n_panels,3). - struc_nodes (np.ndarray): Structural node positions (n_struc,3). - panel_cps (np.ndarray): Panel control points (n_panels,3). - panel_corner_map (np.ndarray): Mapping from panels to 4 node indices (n_panels,4). - p (float): Power for inverse-distance weighting. - eps (float): Small value to avoid division by zero. - is_with_coupling_plot (bool): If True, plot the mapping. - - Returns: - np.ndarray: Forces on structural nodes (n_struc,3). - """ - - n_struc = len(struc_nodes) - f_aero_wing = np.zeros((n_struc, 3), dtype=float) - - for i, (cp, frc) in enumerate(zip(panel_cps, f_aero_wing_vsm_format)): - sel_idx = panel_corner_map[i] # [le_lo, le_hi, te_lo, te_hi] - sel_coords = struc_nodes[sel_idx] # (4,3) - - # true inverse-distance weighting across the 4 nodes - d = np.linalg.norm(sel_coords - cp[None, :], axis=1) - w = 1.0 / (d**power_for_inverse_weighting + eps) - w /= np.sum(w) - - f_vals = w[:, None] * frc[None, :] # (4,3) - - # accumulate - for local_j, glob_j in enumerate(sel_idx): - f_aero_wing[glob_j] += f_vals[local_j] - - if is_with_coupling_plot: - plot_aerodynamic_forces_chordwise_distributed( - panel_cps=panel_cps, - f_aero_chordwise=f_aero_wing_vsm_format, - nodes_struc=struc_nodes, - force_struc=f_aero_wing, - ) - - return f_aero_wing - - -def initialize_mapping( - panels: np.ndarray, - struc_nodes: np.ndarray, - struc_node_le_indices: np.ndarray, - struc_node_te_indices: np.ndarray, -) -> np.ndarray: - """ - For each panel CP, find the two LE and two TE structural‐node indices - whose y-coordinates bracket the CP’s y. Returns an (n_panels, 4) array - of [le_lo, le_hi, te_lo, te_hi]. - - Args: - panels (np.ndarray): Array of panel objects with .aerodynamic_center attribute. - struc_nodes (np.ndarray): Structural node positions (n_nodes,3). - struc_node_le_indices (np.ndarray): Indices of leading edge nodes. - struc_node_te_indices (np.ndarray): Indices of trailing edge nodes. - - Returns: - np.ndarray: Mapping array (n_panels, 4). - """ - - # extract and sort LE candidates by their y - le_coords = [] - for struc_node_le_idx in struc_node_le_indices: - le_coords.append(struc_nodes[struc_node_le_idx]) - - le_coords = np.array(le_coords) - le_y = le_coords[:, 1] - le_order = np.argsort(le_y) - le_sorted_idx = np.array(struc_node_le_indices)[le_order] - le_sorted_y = le_y[le_order] - - # same for TE - te_coords = [] - for struc_node_te_idx in struc_node_te_indices: - te_coords.append(struc_nodes[struc_node_te_idx]) - - te_coords = np.array(te_coords) - te_y = te_coords[:, 1] - te_order = np.argsort(te_y) - te_sorted_idx = np.array(struc_node_te_indices)[te_order] - te_sorted_y = te_y[te_order] - - n = len(panels) - mapping = np.zeros((n, 4), dtype=int) - - for i, panel in enumerate(panels): - y = panel.aerodynamic_center[1] - # LE insertion point - hi_le = np.searchsorted(le_sorted_y, y) - lo_le = np.clip(hi_le - 1, 0, len(le_sorted_y) - 1) - hi_le = np.clip(hi_le, 0, len(le_sorted_y) - 1) - - # TE insertion - hi_te = np.searchsorted(te_sorted_y, y) - lo_te = np.clip(hi_te - 1, 0, len(te_sorted_y) - 1) - hi_te = np.clip(hi_te, 0, len(te_sorted_y) - 1) - - mapping[i, :] = [ - le_sorted_idx[lo_le], - le_sorted_idx[hi_le], - te_sorted_idx[lo_te], - te_sorted_idx[hi_te], - ] - - return mapping - - -def main( - coupling_method: str, - f_aero_wing_vsm_format: np.ndarray, - struc_nodes: np.ndarray, - panel_cp_locations: np.ndarray, - aero2struc_mapping: np.ndarray, - is_with_coupling_plot: bool, - config_aer2struc: dict, -): - """ - Main interface for mapping aerodynamic panel forces to structural nodes. - - Args: - coupling_method (str): Coupling method name (e.g., "NN"). - f_aero_wing_vsm_format (np.ndarray): Aerodynamic forces per panel (n_panels,3). - struc_nodes (np.ndarray): Structural node positions (n_struc,3). - panel_cp_locations (np.ndarray): Panel control points (n_panels,3). - aero2struc_mapping (np.ndarray): Mapping from panels to 4 node indices (n_panels,4). - is_with_coupling_plot (bool): If True, plot the mapping. - p (float): Power for inverse-distance weighting. - eps (float): Small value to avoid division by zero. - - Returns: - np.ndarray: Forces on structural nodes (n_struc,3). - """ - - if coupling_method == config_aer2struc["coupling_method"]: - return aero2struc_NN_vsm( - f_aero_wing_vsm_format, # (n_panels,3) - struc_nodes, # (n_struc,3) - panel_cp_locations, # (n_panels,3) - aero2struc_mapping, # (n_panels,4) - power_for_inverse_weighting=config_aer2struc["power_for_inverse_weighting"], - eps=config_aer2struc["eps"], - is_with_coupling_plot=is_with_coupling_plot, - ) - else: - raise ValueError("Coupling method not recognized; wrong name or typo") diff --git a/src/kitesim/aero2struc_level_1.py b/src/kitesim/aero2struc_level_1.py new file mode 100644 index 000000000..5be440bb4 --- /dev/null +++ b/src/kitesim/aero2struc_level_1.py @@ -0,0 +1,298 @@ +import logging +import numpy as np +import matplotlib.pyplot as plt +from kitesim.plotting import plot_aerodynamic_forces_chordwise_distributed + + +def check_moment_preservation( + f_aero_panel: np.ndarray, + panel_cps: np.ndarray, + f_aero_mapped: np.ndarray, + struc_nodes: np.ndarray, + ref_point: np.ndarray = None, +) -> dict: + """ + Check whether the aero→struc force mapping preserves total force and moment. + + Computes: + M_aero = Σ_i (r_cp_i − r_ref) × F_panel_i (original panel forces) + M_struc = Σ_j (r_node_j − r_ref) × F_mapped_j (mapped nodal forces) + + A pure inverse-distance-weight mapping preserves force (Σw=1) but generally + does NOT preserve moment, because the weighted centroid of the corner nodes + differs from the panel CP. + + Args: + f_aero_panel: (n_panels, 3) panel forces at their CPs. + panel_cps: (n_panels, 3) panel control-point locations. + f_aero_mapped: (n_struc, 3) mapped forces on structural nodes. + struc_nodes: (n_struc, 3) structural node positions. + ref_point: (3,) reference point for moment calculation. + Defaults to the origin [0, 0, 0]. + + Returns: + dict with keys: + F_aero_total: (3,) total aero force from panels + F_struc_total: (3,) total mapped force on struct nodes + dF: (3,) force error (should be ≈0) + dF_norm: float ||dF|| + M_aero: (3,) total moment from panel forces + M_struc: (3,) total moment from mapped nodal forces + dM: (3,) moment error + dM_norm: float ||dM|| + dM_rel: float ||dM|| / ||M_aero|| (relative moment error) + """ + if ref_point is None: + ref_point = np.zeros(3) + + # --- total force --- + F_aero = np.sum(f_aero_panel, axis=0) + F_struc = np.sum(f_aero_mapped, axis=0) + dF = F_struc - F_aero + + # --- total moment about ref_point --- + M_aero = np.zeros(3) + for cp, frc in zip(panel_cps, f_aero_panel): + M_aero += np.cross(cp - ref_point, frc) + + M_struc = np.zeros(3) + for node, frc in zip(struc_nodes, f_aero_mapped): + M_struc += np.cross(node - ref_point, frc) + + dM = M_struc - M_aero + M_aero_norm = np.linalg.norm(M_aero) + dM_rel = np.linalg.norm(dM) / M_aero_norm if M_aero_norm > 1e-12 else 0.0 + + result = { + "F_aero_total": F_aero, + "F_struc_total": F_struc, + "dF": dF, + "dF_norm": np.linalg.norm(dF), + "M_aero": M_aero, + "M_struc": M_struc, + "dM": dM, + "dM_norm": np.linalg.norm(dM), + "dM_rel": dM_rel, + } + + logging.info( + f"Moment preservation check (ref={ref_point}):\n" + f" Force error ||dF|| = {result['dF_norm']:.6e} N\n" + f" Moment aero ||M|| = {M_aero_norm:.3f} Nm\n" + f" Moment error ||dM|| = {result['dM_norm']:.6e} Nm " + f"(relative: {result['dM_rel']:.4%})\n" + f" dM components = [{dM[0]:.4f}, {dM[1]:.4f}, {dM[2]:.4f}] Nm" + ) + + return result + + +def aero2struc_NN_vsm( + f_aero_wing_vsm_format: np.ndarray, + struc_nodes: np.ndarray, + panel_cps: np.ndarray, + panel_corner_map: np.ndarray, + power_for_inverse_weighting: float = 2, + eps: float = 1e-6, + is_with_coupling_plot: bool = False, +): + """ + Distribute each panel's resultant force (at its CP) onto the four + structural corner nodes using bilinear interpolation. + + For each panel with corners [le_lo, le_hi, te_lo, te_hi]: + 1. Spanwise: eta from LE y-coordinates + eta = (y_cp - y_le_lo) / (y_le_hi - y_le_lo), clamped to [0, 1]. + 2. Chordwise: project CP onto the LE→TE segment for each span side + xi_lo = dot(cp - le_lo, te_lo - le_lo) / |te_lo - le_lo|² + xi_hi = dot(cp - le_hi, te_hi - le_hi) / |te_hi - le_hi|² + 3. Bilinear weights: + w_le_lo = (1 - eta) * (1 - xi_lo) + w_te_lo = (1 - eta) * xi_lo + w_le_hi = eta * (1 - xi_hi) + w_te_hi = eta * xi_hi + + Force is exactly preserved (weights sum to 1). + Moment error is proportional to the out-of-plane offset between the + CP and the bilinear surface of the 4 corner nodes (typically very small). + + Args: + f_aero_wing_vsm_format (np.ndarray): Aerodynamic forces per panel (n_panels,3). + struc_nodes (np.ndarray): Structural node positions (n_struc,3). + panel_cps (np.ndarray): Panel control points (n_panels,3). + panel_corner_map (np.ndarray): Mapping from panels to 4 node indices (n_panels,4). + power_for_inverse_weighting (float): Unused, kept for API compatibility. + eps (float): Small value to avoid division by zero. + is_with_coupling_plot (bool): If True, plot the mapping. + + Returns: + np.ndarray: Forces on structural nodes (n_struc,3). + """ + + n_struc = len(struc_nodes) + f_aero_wing = np.zeros((n_struc, 3), dtype=float) + + for i, (cp, frc) in enumerate(zip(panel_cps, f_aero_wing_vsm_format)): + le_lo, le_hi, te_lo, te_hi = panel_corner_map[i] + + r_le_lo = struc_nodes[le_lo] + r_le_hi = struc_nodes[le_hi] + r_te_lo = struc_nodes[te_lo] + r_te_hi = struc_nodes[te_hi] + + # --- spanwise weight eta (from LE y-coordinates) --- + dy_le = r_le_hi[1] - r_le_lo[1] + if abs(dy_le) < eps: + eta = 0.5 + else: + eta = (cp[1] - r_le_lo[1]) / dy_le + eta = np.clip(eta, 0.0, 1.0) + + # --- chordwise weight xi: project CP onto LE→TE for each span side --- + # Low-span side (le_lo → te_lo) + chord_lo = r_te_lo - r_le_lo + chord_lo_sq = np.dot(chord_lo, chord_lo) + if chord_lo_sq < eps * eps: + xi_lo = 0.0 + else: + xi_lo = np.dot(cp - r_le_lo, chord_lo) / chord_lo_sq + xi_lo = np.clip(xi_lo, 0.0, 1.0) + + # High-span side (le_hi → te_hi) + chord_hi = r_te_hi - r_le_hi + chord_hi_sq = np.dot(chord_hi, chord_hi) + if chord_hi_sq < eps * eps: + xi_hi = 0.0 + else: + xi_hi = np.dot(cp - r_le_hi, chord_hi) / chord_hi_sq + xi_hi = np.clip(xi_hi, 0.0, 1.0) + + # --- bilinear weights (sum to 1 by construction) --- + w_le_lo = (1.0 - eta) * (1.0 - xi_lo) + w_te_lo = (1.0 - eta) * xi_lo + w_le_hi = eta * (1.0 - xi_hi) + w_te_hi = eta * xi_hi + + # accumulate + f_aero_wing[le_lo] += w_le_lo * frc + f_aero_wing[le_hi] += w_le_hi * frc + f_aero_wing[te_lo] += w_te_lo * frc + f_aero_wing[te_hi] += w_te_hi * frc + + if is_with_coupling_plot: + plot_aerodynamic_forces_chordwise_distributed( + panel_cps=panel_cps, + f_aero_chordwise=f_aero_wing_vsm_format, + nodes_struc=struc_nodes, + force_struc=f_aero_wing, + ) + + return f_aero_wing + + +def initialize_mapping( + panels: np.ndarray, + struc_nodes: np.ndarray, + struc_node_le_indices: np.ndarray, + struc_node_te_indices: np.ndarray, +) -> np.ndarray: + """ + For each panel CP, find the two LE and two TE structural‐node indices + whose y-coordinates bracket the CP’s y. Returns an (n_panels, 4) array + of [le_lo, le_hi, te_lo, te_hi]. + + Args: + panels (np.ndarray): Array of panel objects with .aerodynamic_center attribute. + struc_nodes (np.ndarray): Structural node positions (n_nodes,3). + struc_node_le_indices (np.ndarray): Indices of leading edge nodes. + struc_node_te_indices (np.ndarray): Indices of trailing edge nodes. + + Returns: + np.ndarray: Mapping array (n_panels, 4). + """ + + # extract and sort LE candidates by their y + le_coords = [] + for struc_node_le_idx in struc_node_le_indices: + le_coords.append(struc_nodes[struc_node_le_idx]) + + le_coords = np.array(le_coords) + le_y = le_coords[:, 1] + le_order = np.argsort(le_y) + le_sorted_idx = np.array(struc_node_le_indices)[le_order] + le_sorted_y = le_y[le_order] + + # same for TE + te_coords = [] + for struc_node_te_idx in struc_node_te_indices: + te_coords.append(struc_nodes[struc_node_te_idx]) + + te_coords = np.array(te_coords) + te_y = te_coords[:, 1] + te_order = np.argsort(te_y) + te_sorted_idx = np.array(struc_node_te_indices)[te_order] + te_sorted_y = te_y[te_order] + + n = len(panels) + mapping = np.zeros((n, 4), dtype=int) + + for i, panel in enumerate(panels): + y = panel.aerodynamic_center[1] + # LE insertion point + hi_le = np.searchsorted(le_sorted_y, y) + lo_le = np.clip(hi_le - 1, 0, len(le_sorted_y) - 1) + hi_le = np.clip(hi_le, 0, len(le_sorted_y) - 1) + + # TE insertion + hi_te = np.searchsorted(te_sorted_y, y) + lo_te = np.clip(hi_te - 1, 0, len(te_sorted_y) - 1) + hi_te = np.clip(hi_te, 0, len(te_sorted_y) - 1) + + mapping[i, :] = [ + le_sorted_idx[lo_le], + le_sorted_idx[hi_le], + te_sorted_idx[lo_te], + te_sorted_idx[hi_te], + ] + + return mapping + + +def main( + coupling_method: str, + f_aero_wing_vsm_format: np.ndarray, + struc_nodes: np.ndarray, + panel_cp_locations: np.ndarray, + aero2struc_mapping: np.ndarray, + is_with_coupling_plot: bool, + config_aer2struc: dict, +): + """ + Main interface for mapping aerodynamic panel forces to structural nodes. + + Args: + coupling_method (str): Coupling method name (e.g., "NN"). + f_aero_wing_vsm_format (np.ndarray): Aerodynamic forces per panel (n_panels,3). + struc_nodes (np.ndarray): Structural node positions (n_struc,3). + panel_cp_locations (np.ndarray): Panel control points (n_panels,3). + aero2struc_mapping (np.ndarray): Mapping from panels to 4 node indices (n_panels,4). + is_with_coupling_plot (bool): If True, plot the mapping. + p (float): Power for inverse-distance weighting. + eps (float): Small value to avoid division by zero. + + Returns: + np.ndarray: Forces on structural nodes (n_struc,3). + """ + + if coupling_method == config_aer2struc["coupling_method"]: + return aero2struc_NN_vsm( + f_aero_wing_vsm_format, # (n_panels,3) + struc_nodes, # (n_struc,3) + panel_cp_locations, # (n_panels,3) + aero2struc_mapping, # (n_panels,4) + power_for_inverse_weighting=config_aer2struc["power_for_inverse_weighting"], + eps=config_aer2struc["eps"], + is_with_coupling_plot=is_with_coupling_plot, + ) + else: + raise ValueError("Coupling method not recognized; wrong name or typo") diff --git a/src/kitesim/aero2struc_level_2.py b/src/kitesim/aero2struc_level_2.py new file mode 100644 index 000000000..2eca2ffa7 --- /dev/null +++ b/src/kitesim/aero2struc_level_2.py @@ -0,0 +1,732 @@ +import logging +import numpy as np +import matplotlib.pyplot as plt +from pathlib import Path +from kitesim.plotting import plot_aerodynamic_forces_chordwise_distributed + + +def check_moment_preservation( + f_aero_panel: np.ndarray, + panel_cps: np.ndarray, + f_aero_mapped: np.ndarray, + struc_nodes: np.ndarray, + ref_point: np.ndarray = None, +) -> dict: + """ + Check whether the aero→struc force mapping preserves total force and moment. + + Args: + f_aero_panel: (n_panels, 3) panel forces at their CPs. + panel_cps: (n_panels, 3) panel control-point locations. + f_aero_mapped: (n_struc, 3) mapped forces on structural nodes. + struc_nodes: (n_struc, 3) structural node positions. + ref_point: (3,) reference point for moment calc. Default: origin. + + Returns: + dict with force/moment totals, errors, and relative moment error. + """ + if ref_point is None: + ref_point = np.zeros(3) + + # --- total force --- + F_aero = np.sum(f_aero_panel, axis=0) + F_struc = np.sum(f_aero_mapped, axis=0) + dF = F_struc - F_aero + + # --- total moment about ref_point --- + M_aero = np.zeros(3) + for cp, frc in zip(panel_cps, f_aero_panel): + M_aero += np.cross(cp - ref_point, frc) + + M_struc = np.zeros(3) + for node, frc in zip(struc_nodes, f_aero_mapped): + M_struc += np.cross(node - ref_point, frc) + + dM = M_struc - M_aero + M_aero_norm = np.linalg.norm(M_aero) + dM_rel = np.linalg.norm(dM) / M_aero_norm if M_aero_norm > 1e-12 else 0.0 + + result = { + "F_aero_total": F_aero, + "F_struc_total": F_struc, + "dF": dF, + "dF_norm": np.linalg.norm(dF), + "M_aero": M_aero, + "M_struc": M_struc, + "dM": dM, + "dM_norm": np.linalg.norm(dM), + "dM_rel": dM_rel, + } + + logging.info( + f"Moment preservation check (ref={ref_point}):\n" + f" Force error ||dF|| = {result['dF_norm']:.6e} N\n" + f" Moment aero ||M|| = {M_aero_norm:.3f} Nm\n" + f" Moment error ||dM|| = {result['dM_norm']:.6e} Nm " + f"(relative: {result['dM_rel']:.4%})\n" + f" dM components = [{dM[0]:.4f}, {dM[1]:.4f}, {dM[2]:.4f}] Nm" + ) + + return result + + +def build_ordered_sections(struc_nodes, canopy_sections, strut_sections): + """ + Build spanwise-ordered section lists and their coordinates. + + Args: + struc_nodes (np.ndarray): Structural node positions (n_nodes, 3). + canopy_sections (list[list[int]]): Chordwise node indices per canopy section. + strut_sections (list[list[int]]): Chordwise node indices per strut section. + + Returns: + tuple: (sections, section_coords) + - sections: list of index lists ordered by LE y-coordinate. + - section_coords: list of arrays with coordinates for each section. + """ + sections = canopy_sections + strut_sections + # sort by LE y (or by section[0] if that encodes span order) + sections = sorted(sections, key=lambda sec: struc_nodes[sec[0]][1]) + # return indices + coords + section_coords = [struc_nodes[np.array(sec)] for sec in sections] + return sections, section_coords + + +def map_aero_forces_to_struct_nodes(aero_points, aero_forces, struc_nodes, sections): + """ + Map distributed aerodynamic forces onto structural beam nodes using + bilinear interpolation across two spanwise-bracketing sections. + + For each aerodynamic force application point: + 1. Find the two sections that bracket it in spanwise (y) direction. + 2. Compute spanwise weight eta in [0, 1] between those sections. + 3. Within each section, find the closest beam segment and project + onto it → chordwise weight xi in [0, 1]. + 4. Distribute force to the resulting 4 nodes (2 per section) via + combined weights: w_section * (1-xi) and w_section * xi. + + Symmetry preservation: because sections are sorted by y and bracketing + is deterministic, mirror-symmetric aero points receive mirror-symmetric + weights, so symmetric loads produce exactly symmetric nodal forces. + + Force is exactly preserved. Moment error is proportional to the + out-of-plane offset between the aero application point and the beam + segments (same as the single-segment version). + + Args: + aero_points (np.ndarray): (N_aero, 3) coordinates where forces act. + aero_forces (np.ndarray): (N_aero, 3) force vectors. + struc_nodes (np.ndarray): (N_struc, 3) structural node coordinates. + sections (list[list[int]]): Each element is a list of node indices + forming a chordwise beam (consecutive pairs are segments). + Must be sorted by ascending LE y-coordinate (as returned by + build_ordered_sections). + + Returns: + np.ndarray: (N_struc, 3) lumped force vectors at structural nodes. + """ + aero_points = np.asarray(aero_points, dtype=float) + aero_forces = np.asarray(aero_forces, dtype=float) + n_struc = len(struc_nodes) + nodal_forces = np.zeros((n_struc, 3), dtype=float) + + n_sections = len(sections) + if n_sections == 0: + return nodal_forces + + # LE y-coordinate of each section (sections are assumed sorted by y) + section_y = np.array([struc_nodes[sec[0]][1] for sec in sections]) + + # Pre-build segments per section for fast lookup + section_segments = [] + for sec in sections: + segs = [] + for j in range(len(sec) - 1): + idx_a, idx_b = sec[j], sec[j + 1] + p_a = struc_nodes[idx_a] + seg_vec = struc_nodes[idx_b] - p_a + seg_len_sq = np.dot(seg_vec, seg_vec) + segs.append((idx_a, idx_b, p_a, seg_vec, seg_len_sq)) + section_segments.append(segs) + + for k in range(len(aero_points)): + p = aero_points[k] + f = aero_forces[k] + y_p = p[1] + + # --- spanwise bracketing --- + right = int(np.searchsorted(section_y, y_p)) + left = right - 1 + + if right >= n_sections: + right = n_sections - 1 + left = right - 1 if right > 0 else right + if left < 0: + left = 0 + right = 1 if n_sections > 1 else 0 + + if left == right: + # single section available + pairs = [(left, 1.0)] + else: + dy = section_y[right] - section_y[left] + if dy < 1e-30: + eta = 0.5 + else: + eta = (y_p - section_y[left]) / dy + eta = max(0.0, min(1.0, eta)) + pairs = [(left, 1.0 - eta), (right, eta)] + + # --- distribute to both sections --- + for s_idx, s_w in pairs: + if s_w < 1e-15: + continue + segs = section_segments[s_idx] + if len(segs) == 0: + # section has only 1 node → lump everything there + nodal_forces[sections[s_idx][0]] += s_w * f + continue + + # find closest segment in this section + best_dist_sq = np.inf + best_idx_a = 0 + best_idx_b = 0 + best_xi = 0.0 + + for idx_a, idx_b, p_a, seg_vec, seg_len_sq in segs: + if seg_len_sq < 1e-30: + xi = 0.0 + else: + xi = np.dot(p - p_a, seg_vec) / seg_len_sq + xi_c = max(0.0, min(1.0, xi)) + proj = p_a + xi_c * seg_vec + d_sq = np.sum((p - proj) ** 2) + + if d_sq < best_dist_sq: + best_dist_sq = d_sq + best_idx_a = idx_a + best_idx_b = idx_b + best_xi = xi_c + + nodal_forces[best_idx_a] += s_w * (1.0 - best_xi) * f + nodal_forces[best_idx_b] += s_w * best_xi * f + + return nodal_forces + + +def verify_force_moment_conservation( + aero_points, aero_forces, struc_nodes, nodal_forces, ref_point=None +): + """ + Print a check of total force and moment conservation. + + Args: + aero_points (np.ndarray): (N_aero, 3) + aero_forces (np.ndarray): (N_aero, 3) + struc_nodes (np.ndarray): (N_struc, 3) + nodal_forces (np.ndarray): (N_struc, 3) + ref_point (np.ndarray, optional): (3,) reference for moment. Default: origin. + """ + if ref_point is None: + ref_point = np.zeros(3) + + F_aero = np.sum(aero_forces, axis=0) + F_struc = np.sum(nodal_forces, axis=0) + M_aero = np.sum(np.cross(aero_points - ref_point, aero_forces), axis=0) + M_struc = np.sum(np.cross(struc_nodes - ref_point, nodal_forces), axis=0) + + print("=== Force & Moment Conservation Check ===") + print(f" Total aero force: {F_aero}") + print(f" Total struct force: {F_struc}") + print(f" Force error: {np.linalg.norm(F_struc - F_aero):.2e}") + print(f" Total aero moment: {M_aero}") + print(f" Total struct moment: {M_struc}") + print(f" Moment error: {np.linalg.norm(M_struc - M_aero):.2e}") + print("==========================================") + + +def _load_cp_distribution(cp_path): + """ + Load Cp distribution data from a file. + + Args: + cp_path (str or Path): Path to Cp file with columns: x y Cp. + + Returns: + tuple: (x, y, cp) arrays. + """ + rows = [] + with open(cp_path, "r") as f: + for line in f: + stripped = line.strip() + if not stripped or stripped.startswith("#"): + continue + parts = stripped.split() + if len(parts) < 3: + continue + rows.append([float(parts[0]), float(parts[1]), float(parts[2])]) + data = np.array(rows, dtype=float) + if data.size == 0: + raise ValueError(f"No Cp data found in {cp_path}") + return data[:, 0], data[:, 1], data[:, 2] + + +def _average_duplicate_x(x, cp): + """ + Average Cp values for duplicate x positions. + + Args: + x (np.ndarray): Chordwise positions. + cp (np.ndarray): Cp values at those positions. + + Returns: + tuple: (uniq_x, cp_mean) with averaged Cp per unique x. + """ + order = np.argsort(x) + x_sorted = x[order] + cp_sorted = cp[order] + uniq_x, inv = np.unique(x_sorted, return_inverse=True) + cp_sum = np.zeros_like(uniq_x, dtype=float) + counts = np.zeros_like(uniq_x, dtype=float) + np.add.at(cp_sum, inv, cp_sorted) + np.add.at(counts, inv, 1.0) + cp_mean = cp_sum / np.maximum(counts, 1.0) + return uniq_x, cp_mean + + +def _split_surfaces_by_order(x, y, cp): + """ + Split Cp data into upper and lower surfaces using file order. + + Assumes the data is ordered around the airfoil (LE -> TE -> LE). The split + is performed at the first crossing where x >= 1.0 (TE). The first segment + is treated as upper, the second as lower. Only x-ordering is used. + + Args: + x (np.ndarray): Chordwise positions. + y (np.ndarray): Surface-normal positions. + cp (np.ndarray): Cp values. + + Returns: + tuple: (x_u, y_u, cp_u), (x_l, y_l, cp_l) + """ + x = np.asarray(x) + y = np.asarray(y) + cp = np.asarray(cp) + + te_candidates = np.where(x >= 1.0)[0] + if te_candidates.size > 0: + te_idx = int(te_candidates[0]) + else: + te_idx = int(np.argmax(x)) + + if te_idx == 0 or te_idx >= len(x) - 1: + mid = len(x) // 2 + return (x[:mid], y[:mid], cp[:mid]), (x[mid:], y[mid:], cp[mid:]) + + x_u, y_u, cp_u = x[: te_idx + 1], y[: te_idx + 1], cp[: te_idx + 1] + x_l, y_l, cp_l = x[te_idx:], y[te_idx:], cp[te_idx:] + return (x_u, y_u, cp_u), (x_l, y_l, cp_l) + + +def chordwise_weights_from_cp_file(cp_path, x_targets): + """ + Compute normalized chordwise weights from a Cp distribution file. + + The weights are based on Delta Cp = Cp_lower - Cp_upper interpolated + onto x_targets. If Delta Cp is invalid, returns uniform weights. + + Args: + cp_path (str or Path): Path to Cp file with columns: x y Cp. + x_targets (np.ndarray): Chordwise positions in [0, 1] to weight. + + Returns: + np.ndarray: Normalized weights for each x_target. + """ + x, y, cp = _load_cp_distribution(cp_path) + (x_u, y_u, cp_u), (x_l, y_l, cp_l) = _split_surfaces_by_order(x, y, cp) + + if len(x_u) == 0 or len(x_l) == 0: + return np.full_like(x_targets, 1.0 / len(x_targets), dtype=float) + + x_u, cp_u = _average_duplicate_x(x_u, cp_u) + x_l, cp_l = _average_duplicate_x(x_l, cp_l) + + if len(x_u) < 2 or len(x_l) < 2: + return np.full_like(x_targets, 1.0 / len(x_targets), dtype=float) + + cp_upper = np.interp(x_targets, x_u, cp_u, left=cp_u[0], right=cp_u[-1]) + cp_lower = np.interp(x_targets, x_l, cp_l, left=cp_l[0], right=cp_l[-1]) + + delta_cp = cp_lower - cp_upper + delta_cp = np.maximum(delta_cp, 0.0) + total = np.sum(delta_cp) + if total <= 0.0: + return np.full_like(x_targets, 1.0 / len(x_targets), dtype=float) + return delta_cp / total + + +def plot_delta_cp_and_weights(cp_path, n_bins=10): + """ + Plot Cp distributions, Delta Cp, and chordwise weights. + + Args: + cp_path (str or Path): Path to Cp file with columns: x y Cp. + n_bins (int): Number of chordwise bins/targets for weights. + + Returns: + None. Displays a 3x1 plot. + """ + x, y, cp = _load_cp_distribution(cp_path) + (x_u, y_u, cp_u), (x_l, y_l, cp_l) = _split_surfaces_by_order(x, y, cp) + if len(x_u) == 0 or len(x_l) == 0: + raise ValueError("Cp file must contain both upper and lower surface points.") + + x_u, cp_u = _average_duplicate_x(x_u, cp_u) + x_l, cp_l = _average_duplicate_x(x_l, cp_l) + + x_full = np.union1d(x_u, x_l) + cp_upper_full = np.interp(x_full, x_u, cp_u, left=cp_u[0], right=cp_u[-1]) + cp_lower_full = np.interp(x_full, x_l, cp_l, left=cp_l[0], right=cp_l[-1]) + delta_cp = cp_lower_full - cp_upper_full + + x_targets = np.linspace(0.0, 1.0, n_bins) + weights = chordwise_weights_from_cp_file(cp_path, x_targets) + + fig, axes = plt.subplots(3, 1, sharex=True, figsize=(8, 10)) + n_steps = 6 + + axes[0].plot(x_u, cp_u, "o-", color="tab:blue", label=r"$C_p$ upper", markersize=2) + axes[0].plot( + x_l, cp_l, "o-", color="tab:orange", label=r"$C_p$ lower", markersize=2 + ) + axes[0].plot([0, 1], [0, 0], "--", color="k", lw=1) + axes[0].set_ylabel(r"$C_p$ (-)") + axes[0].set_title("Cp Distribution") + axes[0].invert_yaxis() + axes[0].grid(True, linestyle="--", linewidth=0.5) + axes[0].legend() + + axes[1].plot( + x_full, delta_cp, "o-", color="tab:green", label=r"$\Delta C_p$", markersize=2 + ) + bar_width = 0.8 / max(n_bins - 1, 1) + axes[1].bar( + x_targets, + weights, + width=bar_width, + color="tab:gray", + alpha=0.4, + label="Chordwise weights", + ) + axes[1].plot([0, 1], [0, 0], "--", color="k", lw=1) + axes[1].set_ylabel(r"$\Delta C_p$ / weights (-)") + axes[1].set_title("Delta Cp and Weights") + axes[1].grid(True, linestyle="--", linewidth=0.5) + axes[1].legend() + + axes[2].plot( + x_targets, + weights, + "o-", + color="tab:gray", + label="Chordwise weights", + markersize=2, + ) + axes[2].set_xlabel(r"$x/c$ (-)") + axes[2].set_ylabel("Weight (-)") + axes[2].set_title("Weights") + axes[2].grid(True, linestyle="--", linewidth=0.5) + axes[2].legend() + + for ax in axes: + ax.set_xlim(0, 1) + ax.set_xticks(np.linspace(0, 1, n_steps)) + + plt.tight_layout() + plt.show() + + +def main( + coupling_method: str, + f_aero_wing_vsm_format: np.ndarray, + struc_nodes: np.ndarray, + panel_cp_locations: np.ndarray, + aero2struc_mapping: np.ndarray, + is_with_coupling_plot: bool, + config_aer2struc: dict, + canopy_sections, + strut_sections, + panels, + section_ids=None, + cp_distribution_path=None, + is_with_delta_cp_and_weights_plot=False, + is_with_conservation_check=False, + return_distributed_aero=False, +): + """ + Main interface for mapping aerodynamic panel forces to structural nodes. + + Args: + coupling_method (str): Coupling method name (e.g., "NN"). + f_aero_wing_vsm_format (np.ndarray): Aerodynamic forces per panel (n_panels,3). + struc_nodes (np.ndarray): Structural node positions (n_struc,3). + panel_cp_locations (np.ndarray): Panel control points (n_panels,3). + aero2struc_mapping (np.ndarray): Mapping from panels to 4 node indices (n_panels,4). + is_with_coupling_plot (bool): If True, plot the mapping. + p (float): Power for inverse-distance weighting. + eps (float): Small value to avoid division by zero. + cp_distribution_path (str or Path, optional): Path to Cp distribution file + used for chordwise weighting. Defaults to cp_AOA_8.dat in the data folder. + is_with_conservation_check (bool): If True, print force/moment conservation + check for this mapping call. + return_distributed_aero (bool): If True, also return the chordwise- + distributed aero points/forces used by the mapping. + + Returns: + np.ndarray or tuple[np.ndarray, dict]: Mapped forces on structural nodes + (n_struc,3), and optionally a dict with keys "points" and "forces" + containing the distributed aero loads used for mapping. + """ + # Displacing the single spanwise aero force over 10 chordwise nodes + n_chordwise_nodes = 10 + vsm_wing_nodes_distributed_chordwise = [] + vsm_wing_forces_distributed_chordwise = [] + + if cp_distribution_path is None: + cp_distribution_path = ( + Path(__file__).resolve().parents[2] + / "data" + / "TUDELFT_V3_KITE" + / "cp_distributions" + / "cp_AOA_8.dat" + ) + + t_vals = np.linspace(0.0, 1.0, n_chordwise_nodes) + chordwise_weights = chordwise_weights_from_cp_file(cp_distribution_path, t_vals) + for panel, f_panel in zip(panels, f_aero_wing_vsm_format): + le_mid = 0.5 * (panel.LE_point_1 + panel.LE_point_2) + te_mid = 0.5 * (panel.TE_point_1 + panel.TE_point_2) + vec_chord = te_mid - le_mid + + chord_nodes = le_mid[None, :] + t_vals[:, None] * vec_chord[None, :] + vsm_wing_nodes_distributed_chordwise.append(chord_nodes) + + f_nodes = chordwise_weights[:, None] * f_panel[None, :] + vsm_wing_forces_distributed_chordwise.append(f_nodes) + + vsm_wing_nodes_distributed_chordwise = np.vstack( + vsm_wing_nodes_distributed_chordwise + ) + vsm_wing_forces_distributed_chordwise = np.vstack( + vsm_wing_forces_distributed_chordwise + ) + + if is_with_delta_cp_and_weights_plot: + plot_delta_cp_and_weights( + Path("data/TUDELFT_V3_KITE/cp_distributions/cp_AOA_8.dat"), + n_bins=10, + ) + + # mapping the distributed aerodynamic forces to the structural nodes + sections = build_ordered_sections(struc_nodes, canopy_sections, strut_sections)[0] + + if section_ids is None: + active_sections = sections + elif isinstance(section_ids, int): + active_sections = [sections[section_ids]] + else: + active_sections = [sections[sid] for sid in section_ids] + + f_aero_wing = map_aero_forces_to_struct_nodes( + aero_points=vsm_wing_nodes_distributed_chordwise, + aero_forces=vsm_wing_forces_distributed_chordwise, + struc_nodes=struc_nodes, + sections=active_sections, + ) + + if is_with_conservation_check: + verify_force_moment_conservation( + aero_points=vsm_wing_nodes_distributed_chordwise, + aero_forces=vsm_wing_forces_distributed_chordwise, + struc_nodes=struc_nodes, + nodal_forces=f_aero_wing, + ) + if is_with_coupling_plot: + plot_aerodynamic_forces_chordwise_distributed( + panel_cps=panel_cp_locations, + f_aero_chordwise=f_aero_wing_vsm_format, + vsm_wing_nodes_distributed_chordwise=vsm_wing_nodes_distributed_chordwise, + vsm_wing_forces_distributed_chordwise=vsm_wing_forces_distributed_chordwise, + nodes_struc=struc_nodes, + force_struc=f_aero_wing, + ) + if return_distributed_aero: + return f_aero_wing, { + "points": vsm_wing_nodes_distributed_chordwise, + "forces": vsm_wing_forces_distributed_chordwise, + } + return f_aero_wing + + +def initialize_mapping( + panels: np.ndarray, + struc_nodes: np.ndarray, + struc_node_le_indices: np.ndarray, + struc_node_te_indices: np.ndarray, +) -> np.ndarray: + """ + For each panel CP, find the two LE and two TE structural‐node indices + whose y-coordinates bracket the CP’s y. Returns an (n_panels, 4) array + of [le_lo, le_hi, te_lo, te_hi]. + + Args: + panels (np.ndarray): Array of panel objects with .aerodynamic_center attribute. + struc_nodes (np.ndarray): Structural node positions (n_nodes,3). + struc_node_le_indices (np.ndarray): Indices of leading edge nodes. + struc_node_te_indices (np.ndarray): Indices of trailing edge nodes. + + Returns: + np.ndarray: Mapping array (n_panels, 4). + """ + + # extract and sort LE candidates by their y + le_coords = [] + for struc_node_le_idx in struc_node_le_indices: + le_coords.append(struc_nodes[struc_node_le_idx]) + + le_coords = np.array(le_coords) + le_y = le_coords[:, 1] + le_order = np.argsort(le_y) + le_sorted_idx = np.array(struc_node_le_indices)[le_order] + le_sorted_y = le_y[le_order] + + # same for TE + te_coords = [] + for struc_node_te_idx in struc_node_te_indices: + te_coords.append(struc_nodes[struc_node_te_idx]) + + te_coords = np.array(te_coords) + te_y = te_coords[:, 1] + te_order = np.argsort(te_y) + te_sorted_idx = np.array(struc_node_te_indices)[te_order] + te_sorted_y = te_y[te_order] + + n = len(panels) + mapping = np.zeros((n, 4), dtype=int) + + for i, panel in enumerate(panels): + y = panel.aerodynamic_center[1] + # LE insertion point + hi_le = np.searchsorted(le_sorted_y, y) + lo_le = np.clip(hi_le - 1, 0, len(le_sorted_y) - 1) + hi_le = np.clip(hi_le, 0, len(le_sorted_y) - 1) + + # TE insertion + hi_te = np.searchsorted(te_sorted_y, y) + lo_te = np.clip(hi_te - 1, 0, len(te_sorted_y) - 1) + hi_te = np.clip(hi_te, 0, len(te_sorted_y) - 1) + + mapping[i, :] = [ + le_sorted_idx[lo_le], + le_sorted_idx[hi_le], + te_sorted_idx[lo_te], + te_sorted_idx[hi_te], + ] + + return mapping + + +def aero2struc_NN_vsm( + f_aero_wing_vsm_format: np.ndarray, + struc_nodes: np.ndarray, + panel_cps: np.ndarray, + panel_corner_map: np.ndarray, + power_for_inverse_weighting: float = 2, + eps: float = 1e-6, + is_with_coupling_plot: bool = False, +): + """ + Distribute each panel's resultant force (at its CoP) onto the four + structural corner nodes given in panel_corner_map using inverse-distance weighting. + + Args: + f_aero_wing_vsm_format (np.ndarray): Aerodynamic forces per panel (n_panels,3). + struc_nodes (np.ndarray): Structural node positions (n_struc,3). + panel_cps (np.ndarray): Panel control points (n_panels,3). + panel_corner_map (np.ndarray): Mapping from panels to 4 node indices (n_panels,4). + p (float): Power for inverse-distance weighting. + eps (float): Small value to avoid division by zero. + is_with_coupling_plot (bool): If True, plot the mapping. + + Returns: + np.ndarray: Forces on structural nodes (n_struc,3). + """ + + n_struc = len(struc_nodes) + f_aero_wing = np.zeros((n_struc, 3), dtype=float) + + for i, (cp, frc) in enumerate(zip(panel_cps, f_aero_wing_vsm_format)): + sel_idx = panel_corner_map[i] # [le_lo, le_hi, te_lo, te_hi] + sel_coords = struc_nodes[sel_idx] # (4,3) + + # true inverse-distance weighting across the 4 nodes + d = np.linalg.norm(sel_coords - cp[None, :], axis=1) + w = 1.0 / (d**power_for_inverse_weighting + eps) + w /= np.sum(w) + + f_vals = w[:, None] * frc[None, :] # (4,3) + + # accumulate + for local_j, glob_j in enumerate(sel_idx): + f_aero_wing[glob_j] += f_vals[local_j] + + if is_with_coupling_plot: + plot_aerodynamic_forces_chordwise_distributed( + panel_cps=panel_cps, + f_aero_chordwise=f_aero_wing_vsm_format, + nodes_struc=struc_nodes, + force_struc=f_aero_wing, + ) + + return f_aero_wing + + +# def main( +# coupling_method: str, +# f_aero_wing_vsm_format: np.ndarray, +# struc_nodes: np.ndarray, +# panel_cp_locations: np.ndarray, +# aero2struc_mapping: np.ndarray, +# is_with_coupling_plot: bool, +# config_aer2struc: dict, +# ): +# """ +# Main interface for mapping aerodynamic panel forces to structural nodes. + +# Args: +# coupling_method (str): Coupling method name (e.g., "NN"). +# f_aero_wing_vsm_format (np.ndarray): Aerodynamic forces per panel (n_panels,3). +# struc_nodes (np.ndarray): Structural node positions (n_struc,3). +# panel_cp_locations (np.ndarray): Panel control points (n_panels,3). +# aero2struc_mapping (np.ndarray): Mapping from panels to 4 node indices (n_panels,4). +# is_with_coupling_plot (bool): If True, plot the mapping. +# p (float): Power for inverse-distance weighting. +# eps (float): Small value to avoid division by zero. + +# Returns: +# np.ndarray: Forces on structural nodes (n_struc,3). +# """ + +# if coupling_method == config_aer2struc["coupling_method"]: +# return aero2struc_NN_vsm( +# f_aero_wing_vsm_format, # (n_panels,3) +# struc_nodes, # (n_struc,3) +# panel_cp_locations, # (n_panels,3) +# aero2struc_mapping, # (n_panels,4) +# power_for_inverse_weighting=config_aer2struc["power_for_inverse_weighting"], +# eps=config_aer2struc["eps"], +# is_with_coupling_plot=is_with_coupling_plot, +# ) +# else: +# raise ValueError("Coupling method not recognized; wrong name or typo") diff --git a/src/kitesim/aerodynamic_vsm.py b/src/kitesim/aerodynamic_vsm.py index d00934862..ff9962192 100644 --- a/src/kitesim/aerodynamic_vsm.py +++ b/src/kitesim/aerodynamic_vsm.py @@ -8,8 +8,7 @@ def initialize( - kite_name, - PROJECT_DIR, + aero_geometry_path, config, n_panels_aero: int, ) -> BodyAerodynamics: @@ -27,7 +26,7 @@ def initialize( """ body_aero = BodyAerodynamics.instantiate( n_panels=int(n_panels_aero), - file_path=(Path(PROJECT_DIR) / "data" / f"{kite_name}" / "aero_geometry.yaml"), + file_path=aero_geometry_path, spanwise_panel_distribution=config["aerodynamic"][ "spanwise_panel_distribution" ], diff --git a/src/kitesim/aerostructural_coupled_solver.py b/src/kitesim/aerostructural_coupled_solver_level_1.py similarity index 54% rename from src/kitesim/aerostructural_coupled_solver.py rename to src/kitesim/aerostructural_coupled_solver_level_1.py index bfb552ea0..b950d0f44 100644 --- a/src/kitesim/aerostructural_coupled_solver.py +++ b/src/kitesim/aerostructural_coupled_solver_level_1.py @@ -5,13 +5,13 @@ from pathlib import Path import copy from kitesim import ( + aero2struc_level_1, aerodynamic_vsm, struc2aero, - aero2struc, + structural_kite_fem_level_1, structural_pss, tracking, plotting, - structural_kite_fem, aerodynamic_bridle_line_drag, ) @@ -52,10 +52,59 @@ def forcing_symmetry(struc_nodes): return struc_nodes +def _compute_power_tape_increment( + delta_power_tape, + power_tape_final_extension, + power_tape_extension_step, + tol=1e-9, +): + """ + Compute the signed rest-length increment needed to move toward the target extension. + + Returns: + tuple: (increment, should_update) + """ + remaining = power_tape_final_extension - delta_power_tape + if np.abs(remaining) <= tol: + return 0.0, False + if np.abs(power_tape_extension_step) <= tol: + return 0.0, False + + # Always move toward target and clamp to avoid overshoot. + increment = np.sign(remaining) * min( + np.abs(power_tape_extension_step), np.abs(remaining) + ) + return increment, True + + +def _find_kite_fem_spring_id_from_connectivity( + kite_fem_structure, + kite_connectivity_arr, + connectivity_idx, +): + """ + Map ASKITE connectivity index to the matching kite_fem spring element index. + """ + ci, cj = [int(v) for v in kite_connectivity_arr[connectivity_idx]] + target_key = (min(ci, cj), max(ci, cj)) + + for spring_id, spring_element in enumerate(kite_fem_structure.spring_elements): + n1 = int(spring_element.spring.n1) + n2 = int(spring_element.spring.n2) + if (min(n1, n2), max(n1, n2)) == target_key: + return spring_id + + raise ValueError( + f"Could not map power_tape connectivity index {connectivity_idx} " + f"with nodes ({ci}, {cj}) to a kite_fem spring element." + ) + + def update_power_tape_actuation( config, psystem, kite_fem_structure, + kite_connectivity_arr, power_tape_index, power_tape_extension_step, initial_length_power_tape, @@ -71,6 +120,7 @@ def update_power_tape_actuation( config: Configuration dictionary psystem: Particle system (for PSS solver) kite_fem_structure: FEM structure (for kite_fem solver) + kite_connectivity_arr: ASKITE connectivity array power_tape_index: Index of power tape in connectivity array power_tape_extension_step: Increment for power tape extension initial_length_power_tape: Initial length of power tape @@ -88,30 +138,55 @@ def update_power_tape_actuation( ## Calculate delta tape lengths based on structural solver if config["structural_solver"] == "pss": - delta_power_tape = ( - psystem.extract_rest_length[power_tape_index] - initial_length_power_tape - ) - - # Check if we need to extend the power tape - if is_residual_below_tol and delta_power_tape <= power_tape_final_extension: - psystem.update_rest_length(power_tape_index, power_tape_extension_step) - delta_power_tape = ( - psystem.extract_rest_length[power_tape_index] - - initial_length_power_tape + current_length = float(psystem.extract_rest_length[power_tape_index]) + delta_power_tape = current_length - initial_length_power_tape + + if is_residual_below_tol: + increment, should_update = _compute_power_tape_increment( + delta_power_tape=delta_power_tape, + power_tape_final_extension=power_tape_final_extension, + power_tape_extension_step=power_tape_extension_step, ) - logging.info( - f"||--- delta l_d: {delta_power_tape:.3f}m | new l_d: {psystem.extract_rest_length[power_tape_index]:.3f}m | Steps required: {n_power_tape_steps}" - ) - is_actuation_finalized = False + if should_update: + psystem.update_rest_length(power_tape_index, increment) + current_length = float(psystem.extract_rest_length[power_tape_index]) + delta_power_tape = current_length - initial_length_power_tape + logging.info( + f"||--- delta l_d: {delta_power_tape:.3f}m | new l_d: {current_length:.3f}m | Steps required: {n_power_tape_steps}" + ) + is_actuation_finalized = False elif config["structural_solver"] == "kite_fem": - # TODO: get power tape actuation working again for kite_fem - delta_power_tape = rest_lengths[power_tape_index] + power_tape_extension_step - rest_lengths = kite_fem_structure.modify_get_spring_rest_length( - spring_ids=[power_tape_index], new_l0s=[delta_power_tape] + if kite_connectivity_arr is None: + raise ValueError( + "kite_connectivity_arr is required for kite_fem power tape actuation." + ) + + spring_id = _find_kite_fem_spring_id_from_connectivity( + kite_fem_structure=kite_fem_structure, + kite_connectivity_arr=kite_connectivity_arr, + connectivity_idx=power_tape_index, ) - delta_power_tape = 0 - logging.warning("NOT IMPLEMENTED: delta_power_tape for kite_fem") + current_length = float(kite_fem_structure.spring_elements[spring_id].l0) + delta_power_tape = current_length - initial_length_power_tape + + if is_residual_below_tol: + increment, should_update = _compute_power_tape_increment( + delta_power_tape=delta_power_tape, + power_tape_final_extension=power_tape_final_extension, + power_tape_extension_step=power_tape_extension_step, + ) + if should_update: + new_length = current_length + increment + kite_fem_structure.modify_get_spring_rest_length( + spring_ids=[spring_id], + new_l0s=[new_length], + ) + delta_power_tape = new_length - initial_length_power_tape + logging.info( + f"||--- delta l_d: {delta_power_tape:.3f}m | new l_d: {new_length:.3f}m | Steps required: {n_power_tape_steps}" + ) + is_actuation_finalized = False return delta_power_tape, is_actuation_finalized @@ -123,6 +198,7 @@ def check_convergence( f_residual_list, f_aero_wing_vsm_format, config, + stagnation_check_start=0, ): """ Check convergence conditions for the aero-structural solver. @@ -133,14 +209,22 @@ def check_convergence( f_residual_list: List of residual force norms from all iterations f_aero_wing_vsm_format: Aerodynamic forces in VSM format config: Configuration dictionary + stagnation_check_start: Iteration index from which to check stagnation + (reset when switching regularization phase) Returns: - tuple: (is_convergence, should_break) + tuple: (is_convergence, should_break, is_stagnated) - is_convergence: True if converged, False otherwise - should_break: True if loop should break, False to continue + - is_stagnated: True if residual has stagnated (no longer changing) """ is_convergence = False should_break = False + is_stagnated = False + + n_stag = config["aero_structural_solver"]["n_max_constant_residual_force"] + # Number of iterations since the stagnation check window started + iters_since_start = i - stagnation_check_start ### All the convergence checks, are be done in if-elif because only 1 should hold at once # if convergence (residual below set tolerance) @@ -153,14 +237,14 @@ def check_convergence( logging.info("Classic PS diverged - residual force is NaN") should_break = True - # if residual forces are not changing anymore + # if residual forces are not changing anymore (compare start of window vs current) elif ( - i > 15 - and np.abs(np.mean(f_residual_list[i - 15]) - f_residual_list[i - 10]) < 1 + iters_since_start > n_stag + and np.abs(f_residual_list[i - n_stag] - f_residual_list[i]) + < config["aero_structural_solver"]["stagnation_tol"] ): is_convergence = False - logging.info("Classic PS non-converging - residual no longer changes") - should_break = True + is_stagnated = True # if too many iterations are needed elif i > config["aero_structural_solver"]["max_iter"]: @@ -180,7 +264,7 @@ def check_convergence( logging.info("Classic PS non-converging - aero forces are NaN") should_break = True - return is_convergence, should_break + return is_convergence, should_break, is_stagnated def main( @@ -226,6 +310,7 @@ def main( tracking_data (dict): Dictionary containing time histories of positions, forces, etc. meta (dict): Dictionary with meta information about the simulation (timing, convergence, etc). """ + print(f'--> Running structural_solver: {config["structural_solver"]}') ## PRELOOP if config["is_with_gravity"]: @@ -238,11 +323,9 @@ def main( if config["structural_solver"] == "kite_fem": rest_lengths = kite_fem_structure.modify_get_spring_rest_length() - t_vector = np.linspace( - 1, - config["aero_structural_solver"]["max_iter"], - config["aero_structural_solver"]["max_iter"], - ) + max_iter = config["aero_structural_solver"]["max_iter"] + # Keep index 0 for the pre-loop initial state and reserve max_iter loop slots. + t_vector = np.linspace(0, max_iter, max_iter + 1) tracking_data = tracking.setup_tracking_arrays(len(struc_nodes), t_vector) is_convergence = False f_residual_list = [] @@ -252,6 +335,14 @@ def main( start_time = time.time() plotting.set_plot_style() + # Two-phase regularization: phase 1 = with pseudo_dt, phase 2 = without + reg_phase = 1 # 1 = regularized, 2 = unregularized (polish) + stagnation_check_start = 0 # iteration at which current phase started + + # Aitken relaxation state + omega_relaxation = config["aero_structural_solver"].get("relaxation_factor", 0.3) + r_prev_flat = None + ## track initial state # Update unified tracking dataframe (replaces position update) tracking.update_tracking_arrays( @@ -289,7 +380,7 @@ def main( f"Aero symmetry check, f_aero_y: {np.sum([force[1] for force in f_aero_wing_vsm_format])}" ) ### AERO --> STRUC - f_aero_wing = aero2struc.main( + f_aero_wing = aero2struc_level_1.main( config["aero2struc"]["coupling_method"], f_aero_wing_vsm_format, struc_nodes, @@ -299,6 +390,14 @@ def main( config["aero2struc"], ) + # Check moment preservation of aero→struc mapping (pre-loop) + aero2struc_level_1.check_moment_preservation( + f_aero_panel=f_aero_wing_vsm_format, + panel_cps=np.array(results_aero["panel_cp_locations"]), + f_aero_mapped=f_aero_wing, + struc_nodes=struc_nodes, + ) + ### BRIDLE AERO f_aero_bridle = aerodynamic_bridle_line_drag.main( struc_nodes, @@ -315,18 +414,18 @@ def main( f_ext = np.round(f_ext, 5) f_ext_flat = f_ext.flatten() - ###################################################################### # SIMULATION LOOP ###################################################################### ## propagating the simulation for each timestep and saving results - with tqdm(total=len(t_vector), desc="Simulating", leave=True) as pbar: - for i, step in enumerate(t_vector): + with tqdm(total=max_iter, desc="Simulating", leave=True) as pbar: + for i in range(max_iter): if i > 0: struc_nodes_prev = struc_nodes.copy() - ### STRUC - end_time_f_ext = time.time() + ######################################################## + ############## INTERNAL FORCE CALCULATION ############## + ######################################################## begin_time_f_int = time.time() if config["structural_solver"] == "pss": psystem, is_structural_converged, struc_nodes, f_int = ( @@ -338,18 +437,62 @@ def main( ) elif config["structural_solver"] == "kite_fem": kite_fem_structure, is_structural_converged, struc_nodes, f_int = ( - structural_kite_fem.run_kite_fem( + structural_kite_fem_level_1.run_kite_fem( kite_fem_structure, f_ext_flat, config["structural_kite_fem"] ) ) end_time_f_int = time.time() + ### Aitken relaxation of structural nodes + if struc_nodes_prev is not None: + r_k = struc_nodes - struc_nodes_prev + r_k_flat = r_k.flatten() + + if ( + config["aero_structural_solver"].get( + "is_with_aitken_relaxation", True + ) + and r_prev_flat is not None + ): + delta_r = r_k_flat - r_prev_flat + denom = np.dot(delta_r, delta_r) + if denom > 1e-30: + omega_relaxation = -omega_relaxation * ( + np.dot(r_prev_flat, delta_r) / denom + ) + omega_relaxation = np.clip(omega_relaxation, 0.05, 1.0) + + struc_nodes = struc_nodes_prev + omega_relaxation * r_k + r_prev_flat = r_k_flat.copy() + logging.debug(f"Aitken relaxation omega: {omega_relaxation:.4f}") + + # Sync relaxed positions back to structural solver state + if config["structural_solver"] == "pss": + for idx, particle in enumerate(psystem.particles): + particle.update_pos(struc_nodes[idx]) + particle.update_vel(np.zeros(3)) + elif config["structural_solver"] == "kite_fem": + # Update kite_fem so the next solve() starts from the + # Aitken-relaxed geometry instead of the original construction + # geometry. coords_rotations_init is the reference that + # solve() adds displacements to, so moving it here makes the + # Newton-Raphson start near the current state. + flat_xyz = struc_nodes.flatten() + kite_fem_structure.coords_current = flat_xyz.copy() + # Build the 6-DOF vector [x,y,z, 0,0,0] per node + n_nodes = len(struc_nodes) + coords_rot = np.zeros(n_nodes * 6) + for ni in range(n_nodes): + coords_rot[6 * ni : 6 * ni + 3] = struc_nodes[ni] + kite_fem_structure.coords_rotations_init = coords_rot.copy() + kite_fem_structure.coords_rotations_current = coords_rot.copy() + ### PLOT per iteration if config["is_with_struc_plot_per_iteration"]: if config["structural_solver"] == "pss": rest_lengths = psystem.extract_rest_length elif config["structural_solver"] == "kite_fem": - rest_lengths = structural_kite_fem.get_rest_lengths( + rest_lengths = structural_kite_fem_level_1.get_rest_lengths( kite_fem_structure, kite_connectivity_arr ) kite_fem_structure.plot_convergence() @@ -366,7 +509,9 @@ def main( pulley_line_to_other_node_pair_dict=pulley_line_to_other_node_pair_dict, ) - ## external force + ######################################################## + ############## INTERNAL FORCE CALCULATION ############## + ######################################################## begin_time_f_ext = time.time() ### STRUC --> AERO @@ -394,7 +539,7 @@ def main( f"Aero symmetry check, f_aero_y: {np.sum([force[1] for force in f_aero_wing_vsm_format])}" ) ### AERO --> STRUC - f_aero_wing = aero2struc.main( + f_aero_wing = aero2struc_level_1.main( config["aero2struc"]["coupling_method"], f_aero_wing_vsm_format, struc_nodes, @@ -404,22 +549,35 @@ def main( config["aero2struc"], ) + # Check moment preservation (only first coupling iteration to limit log spam) + if i == 1: + aero2struc_level_1.check_moment_preservation( + f_aero_panel=f_aero_wing_vsm_format, + panel_cps=np.array(results_aero["panel_cp_locations"]), + f_aero_mapped=f_aero_wing, + struc_nodes=struc_nodes, + ) + ### BRIDLE AERO - f_aero_bridle = aerodynamic_bridle_line_drag.main( - struc_nodes, - bridle_connectivity_arr, - bridle_diameter_arr, - vel_app, - config["rho"], - config["aerodynamic_bridle"]["cd_cable"], - config["aerodynamic_bridle"]["cf_cable"], - ) + if config["is_with_aero_bridle"]: + f_aero_bridle = aerodynamic_bridle_line_drag.main( + struc_nodes, + bridle_connectivity_arr, + bridle_diameter_arr, + vel_app, + config["rho"], + config["aerodynamic_bridle"]["cd_cable"], + config["aerodynamic_bridle"]["cf_cable"], + ) + else: + f_aero_bridle = np.zeros((len(struc_nodes), 3)) f_aero = f_aero_wing + f_aero_bridle ## EXTERNAL FORCE f_ext = f_aero + f_ext_gravity f_ext = np.round(f_ext, 5) f_ext_flat = f_ext.flatten() + end_time_f_ext = time.time() ### FORCING SYMMETRY if config["is_with_forcing_symmetry"]: @@ -427,21 +585,29 @@ def main( struc_nodes = forcing_symmetry(struc_nodes) ### RESIDUAL + f_residual = f_int + f_ext_flat + + # Zero out residual at fixed (constrained) nodes — their imbalance + # is carried by the constraint reaction force, not by f_int. + # Without this, the residual includes e.g. the weight of node 0 + # (~92 N) which can never converge to zero. + if config["structural_solver"] == "pss": + for fix_idx in config["structural_pss"]["fixed_point_indices"]: + f_residual[3 * fix_idx : 3 * fix_idx + 3] = 0.0 + + f_residual_list.append(np.linalg.norm(np.abs(f_residual))) if config["structural_solver"] == "pss": - f_residual = f_int + f_ext_flat - f_residual_list.append(np.linalg.norm(np.abs(f_residual))) logging.debug( f"residual force in y-direction: {np.sum([f_residual[1::3]]):.3f}N" ) - elif config["structural_solver"] == "kite_fem": - f_residual = f_int + f_ext_flat - f_residual_list.append(np.linalg.norm(np.abs(f_residual))) ### TRACKING # Update unified tracking dataframe (replaces position update) + # Use i+1 so that positions[0] retains the true initial geometry + # stored in the pre-loop call. tracking.update_tracking_arrays( tracking_data, - i, + i + 1, struc_nodes, f_ext_flat, f_residual, @@ -458,14 +624,32 @@ def main( pbar.update(1) ### CHECK CONVERGENCE - is_convergence, should_break = check_convergence( + is_convergence, should_break, is_stagnated = check_convergence( i=i, f_residual=f_residual, f_residual_list=f_residual_list, f_aero_wing_vsm_format=f_aero_wing_vsm_format, config=config, + stagnation_check_start=stagnation_check_start, ) + # Two-phase regularization: on stagnation in phase 1, disable + # pseudo_dt and continue to let the solver polish to true equilibrium. + if is_stagnated: + if reg_phase == 1 and config["structural_solver"] == "kite_fem": + reg_phase = 2 + stagnation_check_start = i # reset stagnation window + config["structural_kite_fem"]["pseudo_dt"] = None + logging.info( + f"Phase 1 stagnated at iter {i} (res={np.linalg.norm(f_residual):.1f}N). " + f"Switching to phase 2: pseudo_dt=None (no regularization)." + ) + else: + logging.info( + "Classic PS non-converging - residual no longer changes" + ) + should_break = True + ### ACTUATION (only when converged) if is_convergence: # Update residual flag for actuation function @@ -475,6 +659,7 @@ def main( config=config, psystem=psystem, kite_fem_structure=kite_fem_structure, + kite_connectivity_arr=kite_connectivity_arr, power_tape_index=power_tape_index, power_tape_extension_step=power_tape_extension_step, initial_length_power_tape=initial_length_power_tape, @@ -499,10 +684,54 @@ def main( ###################################################################### ## END OF SIMULATION FOR LOOP ###################################################################### + + # print out the geometric angle of attack of the mid panel + panels = body_aero.panels + + # Select middle panel + mid_idx = len(panels) // 2 + panel = panels[mid_idx] + + # Midpoints of leading and trailing edges + le_mid = 0.5 * (panel.LE_point_1 + panel.LE_point_2) + te_mid = 0.5 * (panel.TE_point_1 + panel.TE_point_2) + + # Chord direction vector + vec_chord = te_mid - le_mid + vec_chord /= np.linalg.norm(vec_chord) + + # Apparent wind direction (normalize) + vec_wind = vel_app / np.linalg.norm(vel_app) + + # Project onto plane of interest (optional: usually x-z plane) + # Remove spanwise component if needed + vec_chord_2d = np.array([vec_chord[0], vec_chord[2]]) + vec_wind_2d = np.array([vec_wind[0], vec_wind[2]]) + + vec_chord_2d /= np.linalg.norm(vec_chord_2d) + vec_wind_2d /= np.linalg.norm(vec_wind_2d) + + # Angle between vectors (signed) + dot = np.clip(np.dot(vec_chord_2d, vec_wind_2d), -1.0, 1.0) + cross = np.cross(vec_chord_2d, vec_wind_2d) + + angle = np.arctan2(cross, dot) + + print(f"alpha = {np.degrees(angle):.2f}° (va vs mid-span chord)") + print( + f'alpha = {float(np.rad2deg(results_aero["alpha_at_ac"][mid_idx])):.2f}° (incl. induced velocity, from results_aero["alpha_at_ac"])' + ) + # print( + # f'results_aero["alpha_uncorrected"]: {float(np.rad2deg(results_aero["alpha_uncorrected"][mid_idx])):.2f}°' + # ) + # print( + # f'results_aero["alpha_geometric"]: wrt horizontal {results_aero["alpha_geometric"][mid_idx]:.2f}°' + # ) + if config["structural_solver"] == "pss": rest_lengths = psystem.extract_rest_length elif config["structural_solver"] == "kite_fem": - rest_lengths = structural_kite_fem.get_rest_lengths( + rest_lengths = structural_kite_fem_level_1.get_rest_lengths( kite_fem_structure, kite_connectivity_arr ) @@ -516,10 +745,11 @@ def main( title="Initial vs final", pulley_line_indices=pulley_line_indices, pulley_line_to_other_node_pair_dict=pulley_line_to_other_node_pair_dict, + vel_app=vel_app, ) meta = { "total_time_s": time.time() - start_time, - "n_iter": i + 1, + "n_iter": i + 2, # +2: 1 for pre-loop initial state + (i+1) loop entries "converged": is_convergence, "rest_lengths": rest_lengths, # ensure numeric array # Convert kite_connectivity to a numeric array for HDF5 compatibility diff --git a/src/kitesim/aerostructural_coupled_solver_level_2.py b/src/kitesim/aerostructural_coupled_solver_level_2.py index c9b80d74e..c65d07361 100644 --- a/src/kitesim/aerostructural_coupled_solver_level_2.py +++ b/src/kitesim/aerostructural_coupled_solver_level_2.py @@ -5,57 +5,144 @@ from pathlib import Path import copy from kitesim import ( + aero2struc_level_2, aerodynamic_vsm, struc2aero, - aero2struc, + structural_kite_fem_level_2, structural_pss, tracking, plotting, - structural_kite_fem_level_2, aerodynamic_bridle_line_drag, ) -# Remove hardcoded values, when changing away from V3 -def forcing_symmetry(struc_nodes): - """ - Forcing symmetry in the y-direction for the kite structure nodes. - This is a temporary solution to ensure symmetry in the simulation. +def build_symmetry_mapping(struc_nodes, tol=1e-5): + """Build a mapping of symmetrical node pairs from the *initial* geometry. + + For every node with y > 0 (positive-span side), find its mirror partner + at (x, −y, z) on the negative-span side. Also identify nodes that sit + on the symmetry plane (|y| ≤ tol). + + Call this **once** during initialisation and pass the result to + :func:`forcing_symmetry` at every iteration. + + Parameters + ---------- + struc_nodes : np.ndarray, shape (n, 3) + Initial (undeformed) node coordinates. + tol : float + Absolute tolerance for matching mirror coordinates. + + Returns + ------- + symmetry_mapping : dict + ``{"pairs": np.ndarray shape (m, 2), + "center_indices": list[int]}`` + *pairs[:, 0]* = positive-y node index (source), + *pairs[:, 1]* = negative-y node index (mirror). """ - symmetry_pairs_dict = { - 1: 19, - 2: 20, - 3: 17, - 4: 18, - 5: 15, - 6: 16, - 7: 13, - 8: 14, - 9: 11, - 10: 12, - # bridles - 21: 24, - 22: 23, - 25: 26, - 27: 30, - 28: 29, - 31: 32, - 33: 35, - 36: 37, - } + pos_indices = [i for i, pt in enumerate(struc_nodes) if pt[1] > tol] + neg_indices = [i for i, pt in enumerate(struc_nodes) if pt[1] < -tol] + center_indices = [i for i, pt in enumerate(struc_nodes) if abs(pt[1]) <= tol] + + pairs = [] + for pi in pos_indices: + mirrored = np.array( + [struc_nodes[pi][0], -struc_nodes[pi][1], struc_nodes[pi][2]] + ) + for ni in neg_indices: + if np.allclose(struc_nodes[ni], mirrored, atol=tol): + pairs.append((pi, ni)) + break + + pairs = np.array(pairs) if pairs else np.empty((0, 2), dtype=int) - for key, value in symmetry_pairs_dict.items(): - struc_nodes[value] = np.array( - [struc_nodes[key][0], -struc_nodes[key][1], struc_nodes[key][2]] + logging.info( + f"Symmetry mapping: {len(pairs)} pairs, {len(center_indices)} center nodes" + ) + return {"pairs": pairs, "center_indices": center_indices} + + +def forcing_symmetry(struc_nodes, symmetry_mapping): + """Force y-symmetry on the structural nodes using a pre-built mapping. + + For each (source, mirror) pair the mirror node is set to + ``[x_source, -y_source, z_source]``. Centre-plane nodes are forced to + ``y = 0``. + + Parameters + ---------- + struc_nodes : np.ndarray, shape (n, 3) + symmetry_mapping : dict + Output of :func:`build_symmetry_mapping`. + + Returns + ------- + struc_nodes : np.ndarray + The (modified in-place) node array. + """ + for src, mir in symmetry_mapping["pairs"]: + struc_nodes[mir] = np.array( + [struc_nodes[src][0], -struc_nodes[src][1], struc_nodes[src][2]] ) - struc_nodes[34][1] = 0 + for ci in symmetry_mapping["center_indices"]: + struc_nodes[ci][1] = 0.0 return struc_nodes +def _compute_power_tape_increment( + delta_power_tape, + power_tape_final_extension, + power_tape_extension_step, + tol=1e-9, +): + """ + Compute the signed rest-length increment needed to move toward the target extension. + + Returns: + tuple: (increment, should_update) + """ + remaining = power_tape_final_extension - delta_power_tape + if np.abs(remaining) <= tol: + return 0.0, False + if np.abs(power_tape_extension_step) <= tol: + return 0.0, False + + # Always move toward target and clamp to avoid overshoot. + increment = np.sign(remaining) * min( + np.abs(power_tape_extension_step), np.abs(remaining) + ) + return increment, True + + +def _find_kite_fem_spring_id_from_connectivity( + kite_fem_structure, + kite_connectivity_arr, + connectivity_idx, +): + """ + Map ASKITE connectivity index to the matching kite_fem spring element index. + """ + ci, cj = [int(v) for v in kite_connectivity_arr[connectivity_idx]] + target_key = (min(ci, cj), max(ci, cj)) + + for spring_id, spring_element in enumerate(kite_fem_structure.spring_elements): + n1 = int(spring_element.spring.n1) + n2 = int(spring_element.spring.n2) + if (min(n1, n2), max(n1, n2)) == target_key: + return spring_id + + raise ValueError( + f"Could not map power_tape connectivity index {connectivity_idx} " + f"with nodes ({ci}, {cj}) to a kite_fem spring element." + ) + + def update_power_tape_actuation( config, psystem, kite_fem_structure, + kite_connectivity_arr, power_tape_index, power_tape_extension_step, initial_length_power_tape, @@ -71,6 +158,7 @@ def update_power_tape_actuation( config: Configuration dictionary psystem: Particle system (for PSS solver) kite_fem_structure: FEM structure (for kite_fem solver) + kite_connectivity_arr: ASKITE connectivity array power_tape_index: Index of power tape in connectivity array power_tape_extension_step: Increment for power tape extension initial_length_power_tape: Initial length of power tape @@ -88,30 +176,55 @@ def update_power_tape_actuation( ## Calculate delta tape lengths based on structural solver if config["structural_solver"] == "pss": - delta_power_tape = ( - psystem.extract_rest_length[power_tape_index] - initial_length_power_tape - ) - - # Check if we need to extend the power tape - if is_residual_below_tol and delta_power_tape <= power_tape_final_extension: - psystem.update_rest_length(power_tape_index, power_tape_extension_step) - delta_power_tape = ( - psystem.extract_rest_length[power_tape_index] - - initial_length_power_tape - ) - logging.info( - f"||--- delta l_d: {delta_power_tape:.3f}m | new l_d: {psystem.extract_rest_length[power_tape_index]:.3f}m | Steps required: {n_power_tape_steps}" + current_length = float(psystem.extract_rest_length[power_tape_index]) + delta_power_tape = current_length - initial_length_power_tape + + if is_residual_below_tol: + increment, should_update = _compute_power_tape_increment( + delta_power_tape=delta_power_tape, + power_tape_final_extension=power_tape_final_extension, + power_tape_extension_step=power_tape_extension_step, ) - is_actuation_finalized = False + if should_update: + psystem.update_rest_length(power_tape_index, increment) + current_length = float(psystem.extract_rest_length[power_tape_index]) + delta_power_tape = current_length - initial_length_power_tape + logging.info( + f"||--- delta l_d: {delta_power_tape:.3f}m | new l_d: {current_length:.3f}m | Steps required: {n_power_tape_steps}" + ) + is_actuation_finalized = False elif config["structural_solver"] == "kite_fem": - # TODO: get power tape actuation working again for kite_fem - delta_power_tape = rest_lengths[power_tape_index] + power_tape_extension_step - rest_lengths = kite_fem_structure.modify_get_spring_rest_length( - spring_ids=[power_tape_index], new_l0s=[delta_power_tape] + if kite_connectivity_arr is None: + raise ValueError( + "kite_connectivity_arr is required for kite_fem power tape actuation." + ) + + spring_id = _find_kite_fem_spring_id_from_connectivity( + kite_fem_structure=kite_fem_structure, + kite_connectivity_arr=kite_connectivity_arr, + connectivity_idx=power_tape_index, ) - delta_power_tape = 0 - logging.warning("NOT IMPLEMENTED: delta_power_tape for kite_fem") + current_length = float(kite_fem_structure.spring_elements[spring_id].l0) + delta_power_tape = current_length - initial_length_power_tape + + if is_residual_below_tol: + increment, should_update = _compute_power_tape_increment( + delta_power_tape=delta_power_tape, + power_tape_final_extension=power_tape_final_extension, + power_tape_extension_step=power_tape_extension_step, + ) + if should_update: + new_length = current_length + increment + kite_fem_structure.modify_get_spring_rest_length( + spring_ids=[spring_id], + new_l0s=[new_length], + ) + delta_power_tape = new_length - initial_length_power_tape + logging.info( + f"||--- delta l_d: {delta_power_tape:.3f}m | new l_d: {new_length:.3f}m | Steps required: {n_power_tape_steps}" + ) + is_actuation_finalized = False return delta_power_tape, is_actuation_finalized @@ -123,6 +236,7 @@ def check_convergence( f_residual_list, f_aero_wing_vsm_format, config, + stagnation_check_start=0, ): """ Check convergence conditions for the aero-structural solver. @@ -133,14 +247,22 @@ def check_convergence( f_residual_list: List of residual force norms from all iterations f_aero_wing_vsm_format: Aerodynamic forces in VSM format config: Configuration dictionary + stagnation_check_start: Iteration index from which to check stagnation + (reset when switching regularization phase) Returns: - tuple: (is_convergence, should_break) + tuple: (is_convergence, should_break, is_stagnated) - is_convergence: True if converged, False otherwise - should_break: True if loop should break, False to continue + - is_stagnated: True if residual has stagnated (no longer changing) """ is_convergence = False should_break = False + is_stagnated = False + + n_stag = config["aero_structural_solver"].get("n_max_constant_residual_force", 15) + # Number of iterations since the stagnation check window started + iters_since_start = i - stagnation_check_start ### All the convergence checks, are be done in if-elif because only 1 should hold at once # if convergence (residual below set tolerance) @@ -153,14 +275,12 @@ def check_convergence( logging.info("Classic PS diverged - residual force is NaN") should_break = True - # if residual forces are not changing anymore - elif ( - i > 15 - and np.abs(np.mean(f_residual_list[i - 15]) - f_residual_list[i - 10]) < 1 - ): + # if residual forces are not changing anymore (compare start of window vs current) + elif iters_since_start > n_stag and np.abs( + f_residual_list[i - n_stag] - f_residual_list[i] + ) < config["aero_structural_solver"].get("stagnation_tol", 1.0): is_convergence = False - logging.info("Classic PS non-converging - residual no longer changes") - should_break = True + is_stagnated = True # if too many iterations are needed elif i > config["aero_structural_solver"]["max_iter"]: @@ -180,7 +300,7 @@ def check_convergence( logging.info("Classic PS non-converging - aero forces are NaN") should_break = True - return is_convergence, should_break + return is_convergence, should_break, is_stagnated def main( @@ -213,6 +333,8 @@ def main( ### STRUC psystem=None, kite_fem_structure=None, + canopy_sections=None, + strut_sections=None, ): """ Runs the aero-structural solver for the given input parameters. @@ -227,6 +349,8 @@ def main( meta (dict): Dictionary with meta information about the simulation (timing, convergence, etc). """ + print(f'--> Running structural_solver: {config["structural_solver"]}') + ## PRELOOP if config["is_with_gravity"]: f_ext_gravity = np.array( @@ -238,11 +362,9 @@ def main( if config["structural_solver"] == "kite_fem": rest_lengths = kite_fem_structure.modify_get_spring_rest_length() - t_vector = np.linspace( - 1, - config["aero_structural_solver"]["max_iter"], - config["aero_structural_solver"]["max_iter"], - ) + max_iter = config["aero_structural_solver"]["max_iter"] + # Keep index 0 for the pre-loop initial state and reserve max_iter loop slots. + t_vector = np.linspace(0, max_iter, max_iter + 1) tracking_data = tracking.setup_tracking_arrays(len(struc_nodes), t_vector) is_convergence = False f_residual_list = [] @@ -252,6 +374,18 @@ def main( start_time = time.time() plotting.set_plot_style() + # Two-phase regularization: phase 1 = with pseudo_dt, phase 2 = without + reg_phase = 1 # 1 = regularized, 2 = unregularized (polish) + stagnation_check_start = 0 # iteration at which current phase started + + # Aitken relaxation state + omega_relaxation = config["aero_structural_solver"].get("relaxation_factor", 0.3) + r_prev_flat = None + + # Build symmetry mapping once from initial (undeformed) geometry + if config["is_with_forcing_symmetry"]: + symmetry_mapping = build_symmetry_mapping(struc_nodes_initial) + ## track initial state # Update unified tracking dataframe (replaces position update) tracking.update_tracking_arrays( @@ -285,11 +419,54 @@ def main( initial_polar_data=initial_polar_data, is_with_plot=config["is_with_aero_plot_per_iteration"], ) + logging.debug( f"Aero symmetry check, f_aero_y: {np.sum([force[1] for force in f_aero_wing_vsm_format])}" ) + + # # TODO: debuggin here + # # print out the cp locations as % of le to te for debugging purposes + # alpha_arr = np.array(results_aero["alpha_at_ac"]).ravel() + # alpha_arr_geom = np.array(results_aero["alpha_geometric"]).ravel() + # cl_arr = np.array(results_aero["cl_distribution"]).ravel() + # for i, (panel, alpha, alpha_geom, cl) in enumerate( + # zip(body_aero.panels, alpha_arr, alpha_arr_geom, cl_arr) + # ): + # cp = np.array(results_aero["panel_cp_locations"][i]) + # le_mid = 0.5 * (panel.LE_point_1 + panel.LE_point_2) + # te_mid = 0.5 * (panel.TE_point_1 + panel.TE_point_2) + # # chordwise fraction along panel chord axis + # cp_rel = np.dot(cp - le_mid, panel.y_airf) / panel.chord + # print( + # f"i:{i}, CP: {cp_rel:.3f}, alpha_corr: {alpha:.2f}deg, alpha_geom: {alpha_geom:.2f}deg, cl: {cl:.3f}, le: {le_mid}, te: {te_mid}" + # ) + # F = np.array(results_aero["F_distribution"][i]) + # M = np.array(results_aero["M_distribution"][i]) + # ac = panel.aerodynamic_center + # y_airf = panel.y_airf + # z_airf = panel.z_airf + # c = panel.chord + + # r = ac # reference_point is [0,0,0] in config + # M_local = M - np.cross(r, F) + # m_pitch = np.dot(M_local, z_airf) + # F_perp = F - np.dot(F, z_airf) * z_airf + # F_perp_mag = np.linalg.norm(F_perp) + # lever_raw = m_pitch / max(F_perp_mag, 1e-12) + # lever_clamped = np.clip(lever_raw, -0.25 * c, 0.75 * c) + # cp_rel = 0.25 + lever_clamped / c + + # print( + # f"i:{i}, cp_rel:{cp_rel:.3f}, lever_raw:{lever_raw/c:.3f}, F_perp:{F_perp_mag:.3e}" + # ) + + # cd, cm = panel.compute_cd_cm(alpha) + # print( + # f"i:{i}, cm:{cm:.4f}, alpha_corr:{alpha:.2f}, alpha_geom:{alpha_geom:.2f}, cp:{cp_rel:.3f}" + # ) + ### AERO --> STRUC - f_aero_wing = aero2struc.main( + f_aero_wing, aero_mapping_debug = aero2struc_level_2.main( config["aero2struc"]["coupling_method"], f_aero_wing_vsm_format, struc_nodes, @@ -297,6 +474,19 @@ def main( aero2struc_mapping, config["is_with_coupling_plot_per_iteration"], config["aero2struc"], + canopy_sections, + strut_sections, + body_aero.panels, + is_with_conservation_check=False, + return_distributed_aero=True, + ) + + # Check moment preservation of aero→struc mapping (pre-loop) + aero2struc_level_2.check_moment_preservation( + f_aero_panel=aero_mapping_debug["forces"], + panel_cps=aero_mapping_debug["points"], + f_aero_mapped=f_aero_wing, + struc_nodes=struc_nodes, ) ### BRIDLE AERO @@ -315,18 +505,18 @@ def main( f_ext = np.round(f_ext, 5) f_ext_flat = f_ext.flatten() - ###################################################################### # SIMULATION LOOP ###################################################################### ## propagating the simulation for each timestep and saving results - with tqdm(total=len(t_vector), desc="Simulating", leave=True) as pbar: - for i, step in enumerate(t_vector): + with tqdm(total=max_iter, desc="Simulating", leave=True) as pbar: + for i in range(max_iter): if i > 0: struc_nodes_prev = struc_nodes.copy() - ### STRUC - end_time_f_ext = time.time() + ######################################################## + ############## INTERNAL FORCE CALCULATION ############## + ######################################################## begin_time_f_int = time.time() if config["structural_solver"] == "pss": psystem, is_structural_converged, struc_nodes, f_int = ( @@ -344,6 +534,50 @@ def main( ) end_time_f_int = time.time() + ### Aitken relaxation of structural nodes + if struc_nodes_prev is not None: + r_k = struc_nodes - struc_nodes_prev + r_k_flat = r_k.flatten() + + if ( + config["aero_structural_solver"].get( + "is_with_aitken_relaxation", True + ) + and r_prev_flat is not None + ): + delta_r = r_k_flat - r_prev_flat + denom = np.dot(delta_r, delta_r) + if denom > 1e-30: + omega_relaxation = -omega_relaxation * ( + np.dot(r_prev_flat, delta_r) / denom + ) + omega_relaxation = np.clip(omega_relaxation, 0.05, 1.0) + + struc_nodes = struc_nodes_prev + omega_relaxation * r_k + r_prev_flat = r_k_flat.copy() + logging.debug(f"Aitken relaxation omega: {omega_relaxation:.4f}") + + # Sync relaxed positions back to structural solver state + if config["structural_solver"] == "pss": + for idx, particle in enumerate(psystem.particles): + particle.update_pos(struc_nodes[idx]) + particle.update_vel(np.zeros(3)) + elif config["structural_solver"] == "kite_fem": + # Update kite_fem so the next solve() starts from the + # Aitken-relaxed geometry instead of the original construction + # geometry. coords_rotations_init is the reference that + # solve() adds displacements to, so moving it here makes the + # Newton-Raphson start near the current state. + flat_xyz = struc_nodes.flatten() + kite_fem_structure.coords_current = flat_xyz.copy() + # Build the 6-DOF vector [x,y,z, 0,0,0] per node + n_nodes = len(struc_nodes) + coords_rot = np.zeros(n_nodes * 6) + for ni in range(n_nodes): + coords_rot[6 * ni : 6 * ni + 3] = struc_nodes[ni] + kite_fem_structure.coords_rotations_init = coords_rot.copy() + kite_fem_structure.coords_rotations_current = coords_rot.copy() + ### PLOT per iteration if config["is_with_struc_plot_per_iteration"]: if config["structural_solver"] == "pss": @@ -352,7 +586,7 @@ def main( rest_lengths = structural_kite_fem_level_2.get_rest_lengths( kite_fem_structure, kite_connectivity_arr ) - kite_fem_structure.plot_convergence() + # kite_fem_structure.plot_convergence() # not available in kite_fem plotting.main( struc_nodes, @@ -394,7 +628,7 @@ def main( f"Aero symmetry check, f_aero_y: {np.sum([force[1] for force in f_aero_wing_vsm_format])}" ) ### AERO --> STRUC - f_aero_wing = aero2struc.main( + f_aero_wing, aero_mapping_debug = aero2struc_level_2.main( config["aero2struc"]["coupling_method"], f_aero_wing_vsm_format, struc_nodes, @@ -402,46 +636,72 @@ def main( aero2struc_mapping, config["is_with_coupling_plot_per_iteration"], config["aero2struc"], + canopy_sections, + strut_sections, + body_aero.panels, + is_with_conservation_check=(i == 0), + return_distributed_aero=True, ) + # Check moment preservation (only first coupling iteration to limit log spam) + if i == 1: + aero2struc_level_2.check_moment_preservation( + f_aero_panel=aero_mapping_debug["forces"], + panel_cps=aero_mapping_debug["points"], + f_aero_mapped=f_aero_wing, + struc_nodes=struc_nodes, + ) + ### BRIDLE AERO - f_aero_bridle = aerodynamic_bridle_line_drag.main( - struc_nodes, - bridle_connectivity_arr, - bridle_diameter_arr, - vel_app, - config["rho"], - config["aerodynamic_bridle"]["cd_cable"], - config["aerodynamic_bridle"]["cf_cable"], - ) + if config["is_with_aero_bridle"]: + f_aero_bridle = aerodynamic_bridle_line_drag.main( + struc_nodes, + bridle_connectivity_arr, + bridle_diameter_arr, + vel_app, + config["rho"], + config["aerodynamic_bridle"]["cd_cable"], + config["aerodynamic_bridle"]["cf_cable"], + ) + else: + f_aero_bridle = np.zeros((len(struc_nodes), 3)) f_aero = f_aero_wing + f_aero_bridle ## EXTERNAL FORCE f_ext = f_aero + f_ext_gravity f_ext = np.round(f_ext, 5) f_ext_flat = f_ext.flatten() + end_time_f_ext = time.time() ### FORCING SYMMETRY if config["is_with_forcing_symmetry"]: logging.info("Forcing symmetry in y-direction") - struc_nodes = forcing_symmetry(struc_nodes) + struc_nodes = forcing_symmetry(struc_nodes, symmetry_mapping) ### RESIDUAL + f_residual = f_int + f_ext_flat + + # Zero out residual at fixed (constrained) nodes — their imbalance + # is carried by the constraint reaction force, not by f_int. + # Without this, the residual includes e.g. the weight of node 0 + # (~92 N) which can never converge to zero. + if config["structural_solver"] == "pss": + for fix_idx in config["structural_pss"]["fixed_point_indices"]: + f_residual[3 * fix_idx : 3 * fix_idx + 3] = 0.0 + + f_residual_list.append(np.linalg.norm(np.abs(f_residual))) if config["structural_solver"] == "pss": - f_residual = f_int + f_ext_flat - f_residual_list.append(np.linalg.norm(np.abs(f_residual))) logging.debug( f"residual force in y-direction: {np.sum([f_residual[1::3]]):.3f}N" ) - elif config["structural_solver"] == "kite_fem": - f_residual = f_int + f_ext_flat - f_residual_list.append(np.linalg.norm(np.abs(f_residual))) ### TRACKING # Update unified tracking dataframe (replaces position update) + # Use i+1 so that positions[0] retains the true initial geometry + # stored in the pre-loop call. tracking.update_tracking_arrays( tracking_data, - i, + i + 1, struc_nodes, f_ext_flat, f_residual, @@ -458,14 +718,33 @@ def main( pbar.update(1) ### CHECK CONVERGENCE - is_convergence, should_break = check_convergence( + is_convergence, should_break, is_stagnated = check_convergence( i=i, f_residual=f_residual, f_residual_list=f_residual_list, f_aero_wing_vsm_format=f_aero_wing_vsm_format, config=config, + stagnation_check_start=stagnation_check_start, ) + # Two-phase regularization: on stagnation in phase 1, disable + # pseudo_dt and continue to let the solver polish to true equilibrium. + if is_stagnated: + if reg_phase == 1 and config["structural_solver"] == "kite_fem": + reg_phase = 2 + stagnation_check_start = i # reset stagnation window + config["structural_kite_fem"]["pseudo_dt"] = None + logging.info( + f"Phase 1 stagnated at iter {i} " + f"(res={np.linalg.norm(f_residual):.1f}N). " + f"Switching to phase 2: pseudo_dt=None (no regularization)." + ) + else: + logging.info( + "Classic PS non-converging - residual no longer changes" + ) + should_break = True + ### ACTUATION (only when converged) if is_convergence: # Update residual flag for actuation function @@ -475,6 +754,7 @@ def main( config=config, psystem=psystem, kite_fem_structure=kite_fem_structure, + kite_connectivity_arr=kite_connectivity_arr, power_tape_index=power_tape_index, power_tape_extension_step=power_tape_extension_step, initial_length_power_tape=initial_length_power_tape, @@ -499,6 +779,43 @@ def main( ###################################################################### ## END OF SIMULATION FOR LOOP ###################################################################### + # print out the geometric angle of attack of the mid panel + panels = body_aero.panels + + # Select middle panel + mid_idx = len(panels) // 2 + panel = panels[mid_idx] + + # Midpoints of leading and trailing edges + le_mid = 0.5 * (panel.LE_point_1 + panel.LE_point_2) + te_mid = 0.5 * (panel.TE_point_1 + panel.TE_point_2) + + # Chord direction vector + vec_chord = te_mid - le_mid + vec_chord /= np.linalg.norm(vec_chord) + + # Apparent wind direction (normalize) + vec_wind = vel_app / np.linalg.norm(vel_app) + + # Project onto plane of interest (optional: usually x-z plane) + # Remove spanwise component if needed + vec_chord_2d = np.array([vec_chord[0], vec_chord[2]]) + vec_wind_2d = np.array([vec_wind[0], vec_wind[2]]) + + vec_chord_2d /= np.linalg.norm(vec_chord_2d) + vec_wind_2d /= np.linalg.norm(vec_wind_2d) + + # Angle between vectors (signed) + dot = np.clip(np.dot(vec_chord_2d, vec_wind_2d), -1.0, 1.0) + cross = np.cross(vec_chord_2d, vec_wind_2d) + + angle = np.arctan2(cross, dot) + + print(f"alpha = {np.degrees(angle):.2f}° (va vs mid-span chord)") + print( + f'alpha = {float(np.rad2deg(results_aero["alpha_at_ac"][mid_idx])):.2f}° (incl. induced velocity, from results_aero["alpha_at_ac"])' + ) + if config["structural_solver"] == "pss": rest_lengths = psystem.extract_rest_length elif config["structural_solver"] == "kite_fem": @@ -519,7 +836,10 @@ def main( ) meta = { "total_time_s": time.time() - start_time, - "n_iter": i + 1, + # +1 for the pre-loop initial state at tracking index 0. + # Each loop iteration appends one entry, so total stored frames are: + # initial + number of completed loop iterations. + "n_iter": len(f_residual_list) + 1, "converged": is_convergence, "rest_lengths": rest_lengths, # ensure numeric array # Convert kite_connectivity to a numeric array for HDF5 compatibility diff --git a/src/kitesim/plotting.py b/src/kitesim/plotting.py index f7e34d453..16ad2d294 100644 --- a/src/kitesim/plotting.py +++ b/src/kitesim/plotting.py @@ -48,7 +48,12 @@ def set_plot_style(): { "text.usetex": True, "font.family": "serif", - "font.serif": ["Computer Modern Roman"], + "font.serif": [ + "Computer Modern Roman", + "DejaVu Serif", + "Times New Roman", + "serif", + ], ## Axes settings "axes.titlesize": 15, "axes.labelsize": 13, @@ -257,6 +262,7 @@ def main( f_ext=None, title="PSM State", body_aero=None, + vel_app=None, ##TODO: V3 chord-length used for scaling vectors -> should not be hardcoded chord_length=2.6, is_with_node_indices=False, @@ -333,7 +339,7 @@ def main( # Scale all vectors so the longest has length chord_length/5 (larger arrows) norms = np.linalg.norm(arr, axis=1) max_norm = np.max(norms) if np.max(norms) > 0 else 1.0 - scale = (chord_length / 2) / max_norm + scale = (chord_length) / max_norm arr_scaled = arr * scale ax.quiver( struc_nodes[:, 0], @@ -371,6 +377,32 @@ def main( label="Aero Mesh", ) + if vel_app is not None: + vel_app_scaled = vel_app * (chord_length / 2) / np.linalg.norm(vel_app) + ax.quiver( + 0, + 0, + 0, + vel_app_scaled[0], + vel_app_scaled[1], + vel_app_scaled[2], + length=1, + linewidth=3, + arrow_length_ratio=0.3, + normalize=False, + color="black", + label="Apparent Wind", + ) + # add a text label for the apparent wind vector + ax.text( + vel_app_scaled[0], + vel_app_scaled[1], + vel_app_scaled[2], + r"$V_\mathrm{a}$", + color="black", + fontsize=10, + ) + # Set aspect ratio to equal all_pts = ( struc_nodes @@ -579,3 +611,126 @@ def update(val): slider.on_changed(update) plt.show() + + +def plot_aerodynamic_forces_chordwise_distributed( + panel_cps, + f_aero_chordwise, + nodes_struc, + force_struc=None, + vsm_wing_nodes_distributed_chordwise=None, + vsm_wing_forces_distributed_chordwise=None, +): + """ + Plot aerodynamic forces distributed chordwise and mapped to structural nodes. + + Args: + panel_cps (np.ndarray): panel cps (n,3). + f_aero_chordwise (np.ndarray): Chordwise aerodynamic forces (n,3). + nodes_struc (np.ndarray): Structural node positions (n_nodes,3). + force_struc (np.ndarray, optional): Forces on structural nodes (n_nodes,3). + + Returns: + None. Displays a 3D plot. + """ + + # Create a new figure and set up 3D axes + fig = plt.figure() + ax = fig.add_subplot(111, projection="3d") + + # Scatter plot of chordwise points (blue) + ax.scatter( + panel_cps[:, 0], + panel_cps[:, 1], + panel_cps[:, 2], + color="black", + label="Panel center of pressure", + ) + + # Quiver plot for the forces (red arrows) + ax.quiver( + panel_cps[:, 0], + panel_cps[:, 1], + panel_cps[:, 2], + f_aero_chordwise[:, 0], + f_aero_chordwise[:, 1], + f_aero_chordwise[:, 2], + # length=1, + # normalize=True, + length=0.01, + color="black", + label="Panel force vector", + ) + + if vsm_wing_nodes_distributed_chordwise is not None: + vsm_nodes = np.asarray(vsm_wing_nodes_distributed_chordwise) + ax.scatter( + vsm_nodes[:, 0], + vsm_nodes[:, 1], + vsm_nodes[:, 2], + color="blue", + label="VSM node distributed chordwise", + ) + + if vsm_wing_forces_distributed_chordwise is not None: + vsm_forces = np.asarray(vsm_wing_forces_distributed_chordwise) + ax.quiver( + vsm_nodes[:, 0], + vsm_nodes[:, 1], + vsm_nodes[:, 2], + vsm_forces[:, 0], + vsm_forces[:, 1], + vsm_forces[:, 2], + length=0.01, + color="blue", + label="VSM force distributed chordwise", + ) + + if force_struc is None: + # Scatter plot of structural nodes (wing segment corners) + ax.scatter( + nodes_struc[:, 0], + nodes_struc[:, 1], + nodes_struc[:, 2], + color="black", + label="Wing Segment Corners", + ) + + # Annotate each point with its index + for idx, point in enumerate(nodes_struc): + ax.text(point[0], point[1], point[2], f"{idx}", color="black") + else: + # Scatter plot of structural nodes (wing segment corners) (green) + ax.scatter( + nodes_struc[:, 0], + nodes_struc[:, 1], + nodes_struc[:, 2], + color="red", + label="Structural nodes", + ) + + # Quiver plot for the forces on structural nodes (yellow arrows) + ax.quiver( + nodes_struc[:, 0], + nodes_struc[:, 1], + nodes_struc[:, 2], + force_struc[:, 0], + force_struc[:, 1], + force_struc[:, 2], + # length=1, + length=0.01, + # normalize=True, + color="red", + label="Mapped aerodynamic force vector onto structural nodes", + ) + + # Set equal scale for all axes + points_all = np.concatenate((panel_cps, nodes_struc), axis=0) + bb = points_all.max(axis=0) - points_all.min(axis=0) + ax.set_xlabel("X") + ax.set_ylabel("Y") + ax.set_zlabel("Z") + ax.set_box_aspect(bb) + ax.set_title("Aerodynamic Forces and Structural Nodes") + ax.legend() + plt.show() diff --git a/src/kitesim/read_struc_geometry_yaml.py b/src/kitesim/read_struc_geometry_yaml_level_1.py similarity index 100% rename from src/kitesim/read_struc_geometry_yaml.py rename to src/kitesim/read_struc_geometry_yaml_level_1.py diff --git a/src/kitesim/read_struc_geometry_level_2_yaml.py b/src/kitesim/read_struc_geometry_yaml_level_2.py similarity index 68% rename from src/kitesim/read_struc_geometry_level_2_yaml.py rename to src/kitesim/read_struc_geometry_yaml_level_2.py index 27b7d460e..3e045a703 100644 --- a/src/kitesim/read_struc_geometry_level_2_yaml.py +++ b/src/kitesim/read_struc_geometry_yaml_level_2.py @@ -1,24 +1,21 @@ import numpy as np import logging -def initialize_particles( - struc_geometry, - struc_nodes, - m_arr -): + +def initialize_particles(struc_geometry, struc_nodes, m_arr): """ Initialize particles for the kite structure. - + This function adds wing and bridle particles to the structural nodes list and initializes their masses to zero. It also identifies leading edge and trailing edge node indices based on even/odd node indexing, and generates additional canopy section nodes between struts. - + Args: struc_geometry (dict): Dictionary containing structural geometry data struc_nodes (list): List to append particle positions to m_arr (list): List to append particle masses to - + Returns: tuple: (struc_nodes, m_arr, struc_node_le_indices, struc_node_te_indices, strut_node_le_indices, strut_node_te_indices, canopy_sections) @@ -30,7 +27,7 @@ def initialize_particles( struc_node_te_indices = [] for node_idx, x, y, z in struc_geometry["wing_particles"]["data"]: - # node_indices.append(node_idx) + # node_indices.append(node_idx) struc_nodes.append(np.array([x, y, z])) m_arr.append(0) # if uneven --> this is a leading-edge node @@ -40,46 +37,55 @@ def initialize_particles( struc_node_te_indices.append(node_idx) for node_idx, x, y, z in struc_geometry["bridle_particles"]["data"]: - # node_indices.append(node_idx) + # node_indices.append(node_idx) struc_nodes.append(np.array([x, y, z])) m_arr.append(0) - - - - #add extra nodes for canopy + # add extra nodes for canopy strut_node_le_indices = [] strut_node_te_indices = [] strut_indices = [] nodes_per_strut = int(0) - for name, ci, cj, strut_diam_le, strut_diam_te, le_diameter, node_indices in struc_geometry["strut_tubes"]["data"]: + for ( + name, + ci, + cj, + strut_diam_le, + strut_diam_te, + le_diameter, + node_indices, + ) in struc_geometry["strut_tubes"]["data"]: strut_node_le_indices.append(ci) strut_node_te_indices.append(cj) - nodes_per_strut = max(len(node_indices),nodes_per_strut) + nodes_per_strut = max(len(node_indices), nodes_per_strut) strut_indices.append(node_indices) - canopy_section_le_indices = [idx for idx in struc_node_le_indices if idx not in strut_node_le_indices] - canopy_section_te_indices = [idx for idx in struc_node_te_indices if idx not in strut_node_te_indices] + canopy_section_le_indices = [ + idx for idx in struc_node_le_indices if idx not in strut_node_le_indices + ] + canopy_section_te_indices = [ + idx for idx in struc_node_te_indices if idx not in strut_node_te_indices + ] canopy_sections = [] - #TODO: Add extra nodes along chord here, make input through configuration file? + # TODO: Add extra nodes along chord here, make input through configuration file? nodes_per_strut += 1 # add extra nodes along struts such that the amount per strut is the same - for i,indices in enumerate(strut_indices): + for i, indices in enumerate(strut_indices): nodes = len(indices) - missing_nodes = nodes_per_strut-nodes + missing_nodes = nodes_per_strut - nodes for i in range(missing_nodes): coords_front = struc_nodes[indices[-3]] coords_back = struc_nodes[indices[-2]] - ratio = (i+1)/(missing_nodes+1) + ratio = (i + 1) / (missing_nodes + 1) x = coords_front[0] + ratio * (coords_back[0] - coords_front[0]) y = coords_front[1] + ratio * (coords_back[1] - coords_front[1]) z = coords_front[2] + ratio * (coords_back[2] - coords_front[2]) struc_nodes.append(np.array([x, y, z])) m_arr.append(0) node_idx += 1 - indices.insert(-2,node_idx) + indices.insert(-2, node_idx) simplified_bridle_points = [] for i, indices in enumerate(strut_indices): @@ -91,51 +97,117 @@ def initialize_particles( idx = indices[j] current_pos = struc_nodes[idx] # Project current node onto the line between start and end - projection_scalar = np.dot(current_pos - start_pos, line_vector) / np.dot(line_vector, line_vector) + projection_scalar = np.dot(current_pos - start_pos, line_vector) / np.dot( + line_vector, line_vector + ) projected_pos = start_pos + projection_scalar * line_vector struc_nodes[idx] = projected_pos - simplified_bridle_points.append([idx,current_pos,projected_pos]) + simplified_bridle_points.append([idx, current_pos, projected_pos]) simplified_bridle_points = np.array(simplified_bridle_points, dtype=object) - - for n1,n2 in zip(canopy_section_le_indices,canopy_section_te_indices): + for n1, n2 in zip(canopy_section_le_indices, canopy_section_te_indices): # Find closest indices to n1 in strut_node_le_indices neg_distances = [(idx - n1) for idx in strut_node_le_indices if idx < n1] - strut_right_le = strut_node_le_indices[strut_node_le_indices.index(min(neg_distances, key=abs, default=n1) + n1)] if neg_distances else n1 + strut_right_le = ( + strut_node_le_indices[ + strut_node_le_indices.index( + min(neg_distances, key=abs, default=n1) + n1 + ) + ] + if neg_distances + else n1 + ) # Find closest index with positive offset pos_distances = [(idx - n1) for idx in strut_node_le_indices if idx > n1] - strut_left_le = strut_node_le_indices[strut_node_le_indices.index(min(pos_distances, key=abs, default=n1) + n1)] if pos_distances else n1 + strut_left_le = ( + strut_node_le_indices[ + strut_node_le_indices.index( + min(pos_distances, key=abs, default=n1) + n1 + ) + ] + if pos_distances + else n1 + ) # Find closest indices to n2 in strut_node_te_indices neg_distances = [(idx - n1) for idx in strut_node_te_indices if idx < n1] - strut_right_te = strut_node_te_indices[strut_node_te_indices.index(min(neg_distances, key=abs, default=n1) + n1)] if neg_distances else n1 + strut_right_te = ( + strut_node_te_indices[ + strut_node_te_indices.index( + min(neg_distances, key=abs, default=n1) + n1 + ) + ] + if neg_distances + else n1 + ) # Find closest index with positive offset pos_distances = [(idx - n2) for idx in strut_node_te_indices if idx > n2] - strut_left_te = strut_node_te_indices[strut_node_te_indices.index(min(pos_distances, key=abs, default=n2) + n2)] if pos_distances else n2 - - - leading_edge_tube_indices = np.arange(strut_right_le,strut_left_le+2,2) - trailing_edge_tube_indics = np.arange(strut_right_te,strut_left_te+2,2) - leading_edge_tube_length = sum(np.linalg.norm(struc_nodes[leading_edge_tube_indices[i]] - struc_nodes[leading_edge_tube_indices[i+1]]) for i in range(len(leading_edge_tube_indices)-1)) - trailing_edge_tube_length = sum(np.linalg.norm(struc_nodes[trailing_edge_tube_indics[i]] - struc_nodes[trailing_edge_tube_indics[i+1]]) for i in range(len(trailing_edge_tube_indics)-1)) - ratio_le = np.linalg.norm(struc_nodes[n1]-struc_nodes[strut_right_le])/leading_edge_tube_length - ratio_te = np.linalg.norm(struc_nodes[n1]-struc_nodes[strut_right_le])/trailing_edge_tube_length - ratio_canopy = (ratio_le+ratio_te)/2 - - length_right = np.linalg.norm(struc_nodes[strut_right_le]-struc_nodes[strut_right_te]) - length_left = np.linalg.norm(struc_nodes[strut_left_le]-struc_nodes[strut_left_te]) + strut_left_te = ( + strut_node_te_indices[ + strut_node_te_indices.index( + min(pos_distances, key=abs, default=n2) + n2 + ) + ] + if pos_distances + else n2 + ) + + leading_edge_tube_indices = np.arange(strut_right_le, strut_left_le + 2, 2) + trailing_edge_tube_indics = np.arange(strut_right_te, strut_left_te + 2, 2) + leading_edge_tube_length = sum( + np.linalg.norm( + struc_nodes[leading_edge_tube_indices[i]] + - struc_nodes[leading_edge_tube_indices[i + 1]] + ) + for i in range(len(leading_edge_tube_indices) - 1) + ) + trailing_edge_tube_length = sum( + np.linalg.norm( + struc_nodes[trailing_edge_tube_indics[i]] + - struc_nodes[trailing_edge_tube_indics[i + 1]] + ) + for i in range(len(trailing_edge_tube_indics) - 1) + ) + ratio_le = ( + np.linalg.norm(struc_nodes[n1] - struc_nodes[strut_right_le]) + / leading_edge_tube_length + ) + ratio_te = ( + np.linalg.norm(struc_nodes[n1] - struc_nodes[strut_right_le]) + / trailing_edge_tube_length + ) + ratio_canopy = (ratio_le + ratio_te) / 2 + + length_right = np.linalg.norm( + struc_nodes[strut_right_le] - struc_nodes[strut_right_te] + ) + length_left = np.linalg.norm( + struc_nodes[strut_left_le] - struc_nodes[strut_left_te] + ) strut_indices_right = strut_indices[strut_node_le_indices.index(strut_right_le)] strut_indices_left = strut_indices[strut_node_le_indices.index(strut_left_le)] - canopy_section_length = np.linalg.norm(struc_nodes[n1]-struc_nodes[n2]) + canopy_section_length = np.linalg.norm(struc_nodes[n1] - struc_nodes[n2]) direction = struc_nodes[n2] - struc_nodes[n1] direction_normalized = direction / np.linalg.norm(direction) canopy_section_indices = [n1] - for n in range(1,nodes_per_strut-1): - l_ratio_right = np.linalg.norm(struc_nodes[strut_indices_right[n]]-struc_nodes[strut_right_le])/length_right - l_ratio_left = np.linalg.norm(struc_nodes[strut_indices_left[n]]-struc_nodes[strut_left_le])/length_left - l_ratio = l_ratio_right*(1-ratio_canopy)+l_ratio_left*ratio_canopy - coordinates = struc_nodes[n1] + canopy_section_length*l_ratio * direction_normalized + for n in range(1, nodes_per_strut - 1): + l_ratio_right = ( + np.linalg.norm( + struc_nodes[strut_indices_right[n]] - struc_nodes[strut_right_le] + ) + / length_right + ) + l_ratio_left = ( + np.linalg.norm( + struc_nodes[strut_indices_left[n]] - struc_nodes[strut_left_le] + ) + / length_left + ) + l_ratio = l_ratio_right * (1 - ratio_canopy) + l_ratio_left * ratio_canopy + coordinates = ( + struc_nodes[n1] + canopy_section_length * l_ratio * direction_normalized + ) struc_nodes.append(coordinates) m_arr.append(0) node_idx += 1 @@ -152,7 +224,9 @@ def initialize_particles( strut_node_te_indices, canopy_sections, strut_sections, - simplified_bridle_points) + simplified_bridle_points, + ) + def initialize_wing_structure( struc_geometry, @@ -179,45 +253,55 @@ def initialize_wing_structure( """ # Struts - for name, ci, cj, strut_diam_le, strut_diam_te, le_diameter, node_indices in struc_geometry["strut_tubes"]["data"]: + for ( + name, + ci, + cj, + strut_diam_le, + strut_diam_te, + le_diameter, + node_indices, + ) in struc_geometry["strut_tubes"]["data"]: c1s = node_indices[0:-1] c2s = node_indices[1:] - length = np.linalg.norm(struc_nodes[node_indices[0]]-struc_nodes[node_indices[-1]]) - for c1,c2 in zip(c1s,c2s): - rest_length = np.linalg.norm(struc_nodes[c1]-struc_nodes[c2]) - #determine diameter of element, scale linearly from le to te - l1 = np.linalg.norm(struc_nodes[ci]-struc_nodes[c1]) - l2 = np.linalg.norm(struc_nodes[ci]-struc_nodes[c2]) - diameter_n1 = strut_diam_le - (strut_diam_le-strut_diam_te)/length*l1 - diameter_n2 = strut_diam_le - (strut_diam_le-strut_diam_te)/length*l2 - diameter = (diameter_n1+diameter_n2)/2 - mass = 2*np.pi*(diameter/2)*rest_length*170/1000 + length = np.linalg.norm( + struc_nodes[node_indices[0]] - struc_nodes[node_indices[-1]] + ) + for c1, c2 in zip(c1s, c2s): + rest_length = np.linalg.norm(struc_nodes[c1] - struc_nodes[c2]) + # determine diameter of element, scale linearly from le to te + l1 = np.linalg.norm(struc_nodes[ci] - struc_nodes[c1]) + l2 = np.linalg.norm(struc_nodes[ci] - struc_nodes[c2]) + diameter_n1 = strut_diam_le - (strut_diam_le - strut_diam_te) / length * l1 + diameter_n2 = strut_diam_le - (strut_diam_le - strut_diam_te) / length * l2 + diameter = (diameter_n1 + diameter_n2) / 2 + mass = 2 * np.pi * (diameter / 2) * rest_length * 170 / 1000 # m_arr[c1] += mass/2 # m_arr[c2] += mass/2 - kite_connectivity_arr.append([c1,c2]) + kite_connectivity_arr.append([c1, c2]) l0_arr.append(rest_length) - k_arr.append(diameter) #use k array to store diameter - c_arr.append(struc_geometry["pressure"]) #use c array to store pressure + k_arr.append(diameter) # use k array to store diameter + c_arr.append(struc_geometry["pressure"]) # use c array to store pressure linktype_arr.append("inflatable_beam") # for struct_sect in strut_sections: # print(struct_sect) - #leading edge tube + # leading edge tube for name, ci, cj, diameter in struc_geometry["leading_edge_tubes"]["data"]: - rest_length = np.linalg.norm(struc_nodes[ci]-struc_nodes[cj]) - mass = 2*np.pi*(diameter/2)*rest_length*170/1000 + rest_length = np.linalg.norm(struc_nodes[ci] - struc_nodes[cj]) + mass = 2 * np.pi * (diameter / 2) * rest_length * 170 / 1000 # m_arr[ci] += mass/2 # m_arr[cj] += mass/2 - kite_connectivity_arr.append([ci,cj]) - l0_arr.append(rest_length) - k_arr.append(diameter) #use k array to store diameter - c_arr.append(struc_geometry["pressure"]) #use c array to store pressure + kite_connectivity_arr.append([ci, cj]) + l0_arr.append(rest_length) + k_arr.append(diameter) # use k array to store diameter + c_arr.append(struc_geometry["pressure"]) # use c array to store pressure linktype_arr.append("inflatable_beam") - #combine and order canopy_and strut sections by first indices + # combine and order canopy_and strut sections by first indices all_sections = canopy_sections + strut_sections all_sections.sort(key=lambda section: section[0]) - + # Connect canopy sections along chord for canopy_section in canopy_sections: c1s = canopy_section[0:-1] @@ -230,42 +314,47 @@ def initialize_wing_structure( c_arr.append(0) linktype_arr.append("noncompressive") - - #canopy connections (crosses and rectangles) + # canopy connections (crosses and rectangles) all_sections_1 = all_sections[0:-1] all_sections_2 = all_sections[1:] - for section1,section2 in zip(all_sections_1,all_sections_2): + for section1, section2 in zip(all_sections_1, all_sections_2): # Connect corresponding nodes between adjacent struts with squares and diagonals # Skip the first connection (section1[0] to section2[0]) for i in range(1, len(section1)): if i < len(section2): # Square connections: section1[i] to section2[i] - rest_length = np.linalg.norm(struc_nodes[section1[i]]-struc_nodes[section2[i]]) + rest_length = np.linalg.norm( + struc_nodes[section1[i]] - struc_nodes[section2[i]] + ) kite_connectivity_arr.append([section1[i], section2[i]]) l0_arr.append(rest_length) k_arr.append(5000) c_arr.append(0) linktype_arr.append("noncompressive") - + # Diagonal connections: section1[i] to section2[i-1] (if i > 0) if i > 0: - rest_length = np.linalg.norm(struc_nodes[section1[i]]-struc_nodes[section2[i-1]]) - kite_connectivity_arr.append([section1[i], section2[i-1]]) + rest_length = np.linalg.norm( + struc_nodes[section1[i]] - struc_nodes[section2[i - 1]] + ) + kite_connectivity_arr.append([section1[i], section2[i - 1]]) l0_arr.append(rest_length) k_arr.append(5000) c_arr.append(0) linktype_arr.append("noncompressive") - + # Diagonal connections: section1[i-1] to section2[i] (if i > 0) if i > 0: - rest_length = np.linalg.norm(struc_nodes[section1[i-1]]-struc_nodes[section2[i]]) - kite_connectivity_arr.append([section1[i-1], section2[i]]) + rest_length = np.linalg.norm( + struc_nodes[section1[i - 1]] - struc_nodes[section2[i]] + ) + kite_connectivity_arr.append([section1[i - 1], section2[i]]) l0_arr.append(rest_length) k_arr.append(5000) c_arr.append(0) linktype_arr.append("noncompressive") - #assign masses canopy + # assign masses canopy def triangle_area(p1, p2, p3): # Vectors for two sides of the triangle v1 = p2 - p1 @@ -289,48 +378,62 @@ def quad_area(A, B, C, D): section_b = canopy_sections[i + 1] # Create quads by connecting adjacent nodes in consecutive sections for j in range(len(section_a) - 1): - quad = [section_a[j], section_a[j+1], section_b[j+1], section_b[j]] + quad = [section_a[j], section_a[j + 1], section_b[j + 1], section_b[j]] # Get coordinates and calculate area corners = [struc_nodes[node] for node in quad] area = quad_area(corners[0], corners[1], corners[2], corners[3]) # Distribute quad mass to its 4 nodes (each gets 1/4 of quad mass) - quad_mass = area * struc_geometry["canopy_density"] / 1000 # Convert g/m^2 to kg/m^2 + quad_mass = ( + area * struc_geometry["canopy_density"] / 1000 + ) # Convert g/m^2 to kg/m^2 for node in quad: m_arr[node] += quad_mass / 4 - + mass_canopy = np.sum(m_arr) - le_indices = np.array(all_sections)[:,0] + le_indices = np.array(all_sections)[:, 0] # Calculate total length of inflatable tubes total_inflatable_length = 0 # Add up lengths in leading edge for i in range(len(le_indices) - 1): - total_inflatable_length += np.linalg.norm(struc_nodes[le_indices[i]] - struc_nodes[le_indices[i+1]]) + total_inflatable_length += np.linalg.norm( + struc_nodes[le_indices[i]] - struc_nodes[le_indices[i + 1]] + ) # Add up lengths in strut sections for section in strut_sections: for j in range(len(section) - 1): - total_inflatable_length += np.linalg.norm(struc_nodes[section[j]] - struc_nodes[section[j+1]]) + total_inflatable_length += np.linalg.norm( + struc_nodes[section[j]] - struc_nodes[section[j + 1]] + ) # Calculate target mass for inflatable tubes target_mass_inflatable = struc_geometry["mass_without_bridles"] - mass_canopy # Distribute mass along leading edge based on segment lengths for i in range(len(le_indices) - 1): - segment_length = np.linalg.norm(struc_nodes[le_indices[i]] - struc_nodes[le_indices[i+1]]) - segment_mass = target_mass_inflatable * (segment_length / total_inflatable_length) + segment_length = np.linalg.norm( + struc_nodes[le_indices[i]] - struc_nodes[le_indices[i + 1]] + ) + segment_mass = target_mass_inflatable * ( + segment_length / total_inflatable_length + ) m_arr[le_indices[i]] += segment_mass / 2 - m_arr[le_indices[i+1]] += segment_mass / 2 + m_arr[le_indices[i + 1]] += segment_mass / 2 # Distribute mass along strut sections based on segment lengths for section in strut_sections: for j in range(len(section) - 1): - segment_length = np.linalg.norm(struc_nodes[section[j]] - struc_nodes[section[j+1]]) - segment_mass = target_mass_inflatable * (segment_length / total_inflatable_length) + segment_length = np.linalg.norm( + struc_nodes[section[j]] - struc_nodes[section[j + 1]] + ) + segment_mass = target_mass_inflatable * ( + segment_length / total_inflatable_length + ) m_arr[section[j]] += segment_mass / 2 - m_arr[section[j+1]] += segment_mass / 2 + m_arr[section[j + 1]] += segment_mass / 2 return ( # node level @@ -338,9 +441,9 @@ def quad_area(A, B, C, D): m_arr, # element level kite_connectivity_arr, - l0_arr, # l - k_arr, # d - c_arr, # p + l0_arr, # l + k_arr, # d + c_arr, # p linktype_arr, ) @@ -398,7 +501,9 @@ def initialize_bridle_line_system( # computing the mass of the bridle line, and adding it 0.5 to each particle using m_arr l0 = bridle_lines_dict[conn_name]["rest_length"] material = bridle_lines_dict[conn_name]["material"] - cross_sectional_area = np.pi * (bridle_lines_dict[conn_name]["diameter"] / 2) ** 2 + cross_sectional_area = ( + np.pi * (bridle_lines_dict[conn_name]["diameter"] / 2) ** 2 + ) m_line = struc_geometry[material]["density"] * cross_sectional_area * l0 # If there is third connections, this line is a pulley! @@ -440,30 +545,28 @@ def initialize_bridle_line_system( l0 ) c = struc_geometry[material]["damping_per_stiffness"] * k - + ####################################### - #updating l0 to include simplification in bridle attachment point - - if ci in simplified_bridle_points[:,0]: - i = np.where(simplified_bridle_points[:,0] == ci)[0][0] + # updating l0 to include simplification in bridle attachment point + + if ci in simplified_bridle_points[:, 0]: + i = np.where(simplified_bridle_points[:, 0] == ci)[0][0] original_pos = simplified_bridle_points[i, 1] projected_pos = simplified_bridle_points[i, 2] - original_lenth = np.linalg.norm(original_pos-struc_nodes[ck]) - new_length = np.linalg.norm(projected_pos-struc_nodes[ck]) - delta = original_lenth-new_length + original_lenth = np.linalg.norm(original_pos - struc_nodes[ck]) + new_length = np.linalg.norm(projected_pos - struc_nodes[ck]) + delta = original_lenth - new_length l0 -= delta - if ck in simplified_bridle_points[:,0]: - i = np.where(simplified_bridle_points[:,0] == ck)[0][0] + if ck in simplified_bridle_points[:, 0]: + i = np.where(simplified_bridle_points[:, 0] == ck)[0][0] original_pos = simplified_bridle_points[i, 1] projected_pos = simplified_bridle_points[i, 2] - original_lenth = np.linalg.norm(original_pos-struc_nodes[ck]) - new_length = np.linalg.norm(projected_pos-struc_nodes[ck]) - delta = original_lenth-new_length + original_lenth = np.linalg.norm(original_pos - struc_nodes[ck]) + new_length = np.linalg.norm(projected_pos - struc_nodes[ck]) + delta = original_lenth - new_length l0 -= delta - - ####################################### # Dealing with ci-cj # add this new connection to the connectivity array, and also increase counter @@ -504,7 +607,7 @@ def initialize_bridle_line_system( k_arr.append(5000) c_arr.append(c) linktype_arr.append(bridle_lines_dict[conn_name]["linktype"]) - #add mass + # add mass m_arr[ci] += m_line / 4 m_arr[cj] += m_line / 2 m_arr[ck] += m_line / 4 @@ -538,22 +641,22 @@ def initialize_bridle_line_system( struc_geometry[material]["damping_per_stiffness"] * k ) # Rayleigh damping ####################################### - #updating l0 to include simplification in bridle attachment point - if ci in simplified_bridle_points[:,0]: - i = np.where(simplified_bridle_points[:,0] == ci)[0][0] + # updating l0 to include simplification in bridle attachment point + if ci in simplified_bridle_points[:, 0]: + i = np.where(simplified_bridle_points[:, 0] == ci)[0][0] original_pos = simplified_bridle_points[i, 1] projected_pos = simplified_bridle_points[i, 2] - original_lenth = np.linalg.norm(original_pos-struc_nodes[cj]) - new_length = np.linalg.norm(projected_pos-struc_nodes[cj]) - delta = original_lenth-new_length + original_lenth = np.linalg.norm(original_pos - struc_nodes[cj]) + new_length = np.linalg.norm(projected_pos - struc_nodes[cj]) + delta = original_lenth - new_length l0 -= delta - elif cj in simplified_bridle_points[:,0]: - i = np.where(simplified_bridle_points[:,0] == cj)[0][0] + elif cj in simplified_bridle_points[:, 0]: + i = np.where(simplified_bridle_points[:, 0] == cj)[0][0] original_pos = simplified_bridle_points[i, 1] projected_pos = simplified_bridle_points[i, 2] - original_lenth = np.linalg.norm(original_pos-struc_nodes[ci]) - new_length = np.linalg.norm(projected_pos-struc_nodes[ci]) - delta = original_lenth-new_length + original_lenth = np.linalg.norm(original_pos - struc_nodes[ci]) + new_length = np.linalg.norm(projected_pos - struc_nodes[ci]) + delta = original_lenth - new_length l0 -= delta m_arr[ci] += m_line / 2 @@ -617,9 +720,10 @@ def main(struc_geometry): k_arr = [] c_arr = [] linktype_arr = [] - - #initialize particles - ( struc_nodes, + + # initialize particles + ( + struc_nodes, m_arr, struc_node_le_indices, struc_node_te_indices, @@ -627,11 +731,8 @@ def main(struc_geometry): strut_node_te_indices, canopy_sections, strut_sections, - simplified_bridle_points - ) = initialize_particles( - struc_geometry, - struc_nodes, - m_arr) + simplified_bridle_points, + ) = initialize_particles(struc_geometry, struc_nodes, m_arr) ### Analyze Wing Structure ( @@ -654,7 +755,7 @@ def main(struc_geometry): c_arr, linktype_arr, canopy_sections, - strut_sections + strut_sections, ) ### Analyze Bridle Structure @@ -684,10 +785,9 @@ def main(struc_geometry): k_arr, c_arr, linktype_arr, - simplified_bridle_points + simplified_bridle_points, ) - # explicit numpy arrays struc_nodes = np.array(struc_nodes) kite_connectivity_arr = np.array(kite_connectivity_arr) diff --git a/src/kitesim/solver.py b/src/kitesim/solver.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/src/kitesim/structural_kite_fem.py b/src/kitesim/structural_kite_fem_level_1.py similarity index 52% rename from src/kitesim/structural_kite_fem.py rename to src/kitesim/structural_kite_fem_level_1.py index 4a57d15f7..3c43b0beb 100644 --- a/src/kitesim/structural_kite_fem.py +++ b/src/kitesim/structural_kite_fem_level_1.py @@ -1,6 +1,34 @@ import numpy as np from kite_fem.FEMStructure import FEM_structure -from kite_fem.Functions import adapt_stiffnesses,relaxbridles +from kite_fem.Functions import adapt_stiffnesses, relaxbridles + + +def _get_wing_node_indices(struc_geometry): + """Return structural node indices that belong to the wing only.""" + return sorted(int(row[0]) for row in struc_geometry["wing_particles"]["data"]) + + +def _recenter_structure_node_to_origin(kite_fem_structure, node_idx=0): + """ + Translate the full structure so node_idx is exactly at [0, 0, 0]. + Rebuilds FEM_structure so all internal arrays remain consistent. + """ + coords = kite_fem_structure.coords_init.reshape(-1, 3).copy() + translation = -coords[node_idx] + coords += translation + + initial_conditions_new = [] + for i, (_, vel, mass, fixed) in enumerate(kite_fem_structure.initial_conditions): + initial_conditions_new.append( + [coords[i], np.array(vel, copy=True), mass, fixed] + ) + + return FEM_structure( + initial_conditions=initial_conditions_new, + spring_matrix=kite_fem_structure.spring_matrix, + pulley_matrix=kite_fem_structure.pulley_matrix, + beam_matrix=kite_fem_structure.beam_matrix, + ) def instantiate( @@ -22,14 +50,18 @@ def instantiate( raise ValueError("Error: initial point velocity has never been defined") vel_ini = np.zeros((len(struc_nodes), 3)) - fixed_set = set(int(i) for i in struc_geometry.get("fixed_point_indices", [])) + # Use config fixed nodes as single source of truth (fallback keeps backward compatibility). + fixed_point_indices = config.get("structural_pss", {}).get( + "fixed_point_indices", + struc_geometry.get("fixed_point_indices", []), + ) + fixed_set = set(int(i) for i in fixed_point_indices) for i in range(len(struc_nodes)): fixed = i in fixed_set initial_conditions.append([struc_nodes[i], vel_ini[i], m_arr[i], fixed]) pulley_matrix = [] spring_matrix = [] - canopy_nodes = [] # Deduplicate pulleys: remember which (ci,cj,ck) we’ve emitted already seen_pulley_triplets = set() @@ -78,10 +110,6 @@ def instantiate( else: # Regular spring: [ci, cj, k, c, l0, springtype] spring_matrix.append([ci, cj, float(k), float(c), float(l0), lt]) - if ci not in canopy_nodes: - canopy_nodes.append(ci) - if cj not in canopy_nodes: - canopy_nodes.append(cj) # initial_conditions = initial_conditions # [[x,y,z,vel_x,vel_y,vel_z,m,fixed]] # pulley_matrix = pulley_matrix # [[ci, cj, ck, k_eff, c_eff, l0_total], ...] # spring_matrix = spring_matrix # [[ci, cj, k, c, l0, springtype], ...] @@ -91,9 +119,19 @@ def instantiate( spring_matrix=spring_matrix, pulley_matrix=pulley_matrix, ) - - kite_fem_structure = relaxbridles(kite_fem_structure,canopy_nodes,[0]) - struc_nodes_initial = kite_fem_structure.coords_init.reshape(-1,3) + + # ONLY if not starting from a previous sim + # Relax only against the wing skeleton: keep wing nodes fixed, let bridles move. + if config["starting_from_sim_of_date"] == "": + wing_node_indices = _get_wing_node_indices(struc_geometry) + kite_fem_structure = relaxbridles(kite_fem_structure, wing_node_indices, [0]) + + # Keep the KCU/origin node anchored at [0, 0, 0] after relaxation. + kite_fem_structure = _recenter_structure_node_to_origin( + kite_fem_structure, node_idx=0 + ) + + struc_nodes_initial = kite_fem_structure.coords_init.reshape(-1, 3) return ( kite_fem_structure, initial_conditions, @@ -103,6 +141,80 @@ def instantiate( ) +def _diagnose_node_force_balance_fem(kite_fem_structure, f_ext_flat, node_idx=34): + """Print per-spring force contributions at a given node for kite_fem diagnostics.""" + n3 = node_idx * 3 + f_ext_node = f_ext_flat[n3 : n3 + 3] + coords = kite_fem_structure.coords_current # flat, length = 3 * num_nodes + + f_int_node = np.zeros(3) + print(f"\n{'='*80}") + print(f"FORCE BALANCE DIAGNOSTIC (kite_fem) — Node {node_idx}") + print(f" Position: {coords[n3:n3+3]}") + print(f" f_ext: {f_ext_node} (|f_ext| = {np.linalg.norm(f_ext_node):.4f} N)") + print(f"{'='*80}") + + for se_idx, se in enumerate(kite_fem_structure.spring_elements): + n1 = se.spring.n1 + n2 = se.spring.n2 + if n1 != node_idx and n2 != node_idx: + continue + + # Compute current length and unit vector + unit, l_current = se.unit_vector(coords) + + # Handle pulley coupling + l_other_pulley = 0.0 + if se.springtype == "pulley": + other = kite_fem_structure.spring_elements[se.i_other_pulley] + _, l_other = other.unit_vector(coords) + l_other_pulley = l_other + + # Get spring force via the element's own method + fi_elem = se.spring_internal_forces(coords, l_other_pulley) + fi_3d = fi_elem[:3] # [fx, fy, fz] — force from n1 toward n2 + + # Convention: fi is subtracted at n1, added at n2 + if n1 == node_idx: + contrib = -fi_3d + else: + contrib = fi_3d + + f_int_node += contrib + + l0 = se.l0 + k = se.k + strain = (l_current - l0) / l0 if l0 > 0 else 0 + sign_str = "+" if n2 == node_idx else "-" + slack_str = " [SLACK]" if se.slack else "" + pulley_str = ( + f", l_other={l_other_pulley:.6f}" if se.springtype == "pulley" else "" + ) + f_mag = np.linalg.norm(fi_3d) + + print( + f" SE {se_idx:3d} [{n1:2d}→{n2:2d}] {se.springtype:16s} " + f"l={l_current:.6f} l0={l0:.6f} strain={strain:+.6f} k={k:.1f} " + f"|F|={f_mag:.4f}N ({sign_str}){pulley_str}{slack_str}" + ) + print( + f" F_contrib = [{contrib[0]:+.4f}, {contrib[1]:+.4f}, {contrib[2]:+.4f}]" + ) + + f_residual_node = f_int_node + f_ext_node + print(f"{'─'*80}") + print( + f" SUM f_int: [{f_int_node[0]:+.4f}, {f_int_node[1]:+.4f}, {f_int_node[2]:+.4f}] |f_int| = {np.linalg.norm(f_int_node):.4f} N" + ) + print( + f" f_ext: [{f_ext_node[0]:+.4f}, {f_ext_node[1]:+.4f}, {f_ext_node[2]:+.4f}] |f_ext| = {np.linalg.norm(f_ext_node):.4f} N" + ) + print( + f" f_residual: [{f_residual_node[0]:+.4f}, {f_residual_node[1]:+.4f}, {f_residual_node[2]:+.4f}] |f_res| = {np.linalg.norm(f_residual_node):.4f} N" + ) + print(f"{'='*80}\n") + + def get_rest_lengths(kite_fem_structure, kite_connectivity_arr): # get connectivity data kite_fem and kite_connectivity n1s = [] @@ -148,7 +260,7 @@ def run_kite_fem( fe_6d = [[fe[0], fe[1], fe[2], 0, 0, 0] for fe in f_ext_reshaped] fe_6d = np.array(fe_6d).flatten() - is_structural_converged,residual = kite_fem_structure.solve( + is_structural_converged, residual = kite_fem_structure.solve( fe=fe_6d, max_iterations=config_structural_kite_fem["max_iterations"], tolerance=config_structural_kite_fem["tolerance"], @@ -157,10 +269,12 @@ def run_kite_fem( relax_update=config_structural_kite_fem["relax_update"], k_update=config_structural_kite_fem["k_update"], I_stiffness=config_structural_kite_fem["I_stiffness"], + pseudo_dt=config_structural_kite_fem.get("pseudo_dt", None), + k_reg_min=config_structural_kite_fem.get("k_reg_min", 0.0), print_info=config_structural_kite_fem["print_info"], ) - adapt_stiffnesses(kite_fem_structure) + # adapt_stiffnesses(kite_fem_structure) # disabled: doubles k every iter for >1% strain springs struc_nodes = kite_fem_structure.coords_current # reshape from flat to (n_nodes, 3) @@ -170,4 +284,11 @@ def run_kite_fem( f_int = np.where(kite_fem_structure.bc == True, f_int, -fe_6d) # remove moments f_int = f_int.reshape(-1, 6)[:, :3].flatten() + + if config_structural_kite_fem.get("is_with_diagnostics", False): + node_idx = config_structural_kite_fem.get("num_node_diagnostics", 34) + _diagnose_node_force_balance_fem( + kite_fem_structure, f_ext_flat, node_idx=node_idx + ) + return kite_fem_structure, is_structural_converged, struc_nodes, f_int diff --git a/src/kitesim/structural_kite_fem_level_2.py b/src/kitesim/structural_kite_fem_level_2.py index 076243c87..38e2bf9ca 100644 --- a/src/kitesim/structural_kite_fem_level_2.py +++ b/src/kitesim/structural_kite_fem_level_2.py @@ -1,6 +1,89 @@ import numpy as np +import matplotlib.pyplot as plt from kite_fem.FEMStructure import FEM_structure -from kite_fem.Functions import relaxbridles, adapt_stiffnesses +from kite_fem.Functions import adapt_stiffnesses +from kite_fem.Plotting import plot_structure + + +def fix_nodes(kite: FEM_structure, indices): + """Fix all 6 DOFs for a list of node indices.""" + for node_id in indices: + kite.bc[6 * node_id : 6 * node_id + 6] = False + kite.fixed[6 * node_id : 6 * node_id + 6] = True + return kite + + +# TODO: should go back to kite_fem +def relaxbridles( + kite: FEM_structure, + canopy_nodes, + origin, + pull_down_force_z=-1500.0, + settle_force_z=-1500.0, +): + """ + Relax bridles by fixing canopy nodes and applying a vertical force on origin nodes. + + Args: + kite: FEM structure instance. + canopy_nodes: Node ids fixed during relaxation. + origin: Node ids that get the vertical pull force. + pull_down_force_z: Main Z-force used to pull origin node(s). + settle_force_z: Smaller Z-force used in a second settle solve. + """ + kite = fix_nodes(kite, canopy_nodes) + initial_conditions = kite.initial_conditions + pulley_matrix = kite.pulley_matrix + spring_matrix = kite.spring_matrix + beam_matrix = kite.beam_matrix + fe = np.zeros(kite.N) + + for node_id in origin: + kite.bc[6 * node_id + 2] = True + kite.fixed[6 * node_id + 2] = False + fe[6 * node_id + 2] = float(pull_down_force_z) + + kite.solve(fe, max_iterations=300, tolerance=0.01, print_info=False) + for node_id in origin: + fe[6 * node_id + 2] = float(settle_force_z) + kite.solve(fe, max_iterations=300, tolerance=0.01, print_info=False) + + newcoords = np.reshape(kite.coords_current, (-1, 3)) + + initial_conditions_new = [] + for node_id, (_, vel, mass, fixed) in enumerate(initial_conditions): + posnew = np.array(newcoords[node_id], copy=True) + initial_conditions_new.append([posnew, vel, mass, fixed]) + + kite_relaxed = FEM_structure( + initial_conditions_new, spring_matrix, pulley_matrix, beam_matrix + ) + + # Ensure node 0 (or provided origin node) ends exactly at [0, 0, 0]. + return _recenter_structure_node_to_origin(kite_relaxed, node_idx=origin[0]) + + +def _recenter_structure_node_to_origin(kite_fem_structure, node_idx=0): + """ + Translate the full structure so node_idx is exactly at [0, 0, 0]. + Rebuilds FEM_structure so all internal arrays remain consistent. + """ + coords = kite_fem_structure.coords_init.reshape(-1, 3).copy() + translation = -coords[node_idx] + coords += translation + + initial_conditions_new = [] + for i, (_, vel, mass, fixed) in enumerate(kite_fem_structure.initial_conditions): + initial_conditions_new.append( + [coords[i], np.array(vel, copy=True), mass, fixed] + ) + + return FEM_structure( + initial_conditions=initial_conditions_new, + spring_matrix=kite_fem_structure.spring_matrix, + pulley_matrix=kite_fem_structure.pulley_matrix, + beam_matrix=kite_fem_structure.beam_matrix, + ) def instantiate( @@ -79,7 +162,7 @@ def instantiate( elif lt == "inflatable_beam": diameter = k pressure = c - beam_matrix.append([ci,cj,float(diameter),float(pressure),float(l0)]) + beam_matrix.append([ci, cj, float(diameter), float(pressure), float(l0)]) else: # Regular spring: [ci, cj, k, c, l0, springtype] spring_matrix.append([ci, cj, float(k), float(c), float(l0), lt]) @@ -95,10 +178,29 @@ def instantiate( beam_matrix=beam_matrix, ) - #Relax the bridle lines - canopy_nodes = list(set([node for section in canopy_sections + strut_sections for node in section])) - kite_fem_structure = relaxbridles(kite_fem_structure,canopy_nodes,[0]) - struc_nodes_initial = kite_fem_structure.coords_init.reshape(-1,3) + # Relax the bridle lines + canopy_nodes = list( + set([node for section in canopy_sections + strut_sections for node in section]) + ) + pull_down_force_z = config.get("structural_kite_fem", {}).get( + "relaxbridles_pull_down_force_z", -100.0 + ) + settle_force_z = config.get("structural_kite_fem", {}).get( + "relaxbridles_settle_force_z", -1.0 + ) + kite_fem_structure = relaxbridles( + kite_fem_structure, + canopy_nodes, + [0], + pull_down_force_z=pull_down_force_z, + settle_force_z=settle_force_z, + ) + struc_nodes_initial = kite_fem_structure.coords_init.reshape(-1, 3) + + if config.get("is_with_initial_structure_plot", False): + ax, fig = plot_structure(kite_fem_structure, plot_node_numbers=True) + ax.set_title("Initial structure") + plt.show() return ( kite_fem_structure, @@ -110,36 +212,36 @@ def instantiate( def get_rest_lengths(kite_fem_structure, kite_connectivity_arr): - # get connectivity data kite_fem and kite_connectivity - n1s = [] - n2s = [] - n1_conn = [] - n2_conn = [] - springtypes = [] - for spring_element in kite_fem_structure.spring_elements: - n1s.append(spring_element.spring.n1) - n2s.append(spring_element.spring.n2) - springtypes.append(spring_element.springtype) - for connectivity in kite_connectivity_arr: - n1_conn.append(connectivity[0]) - n2_conn.append(connectivity[1]) + # Build lookup of ASKITE connectivity key -> rest length. + # Use both spring and beam elements so inflatable_beam entries are covered. + l0_map = {} - # get rest lengths - l0s = kite_fem_structure.modify_get_spring_rest_length() + # Spring elements (including pulley elements) + spring_l0s = kite_fem_structure.modify_get_spring_rest_length() + for spring_element, l0 in zip(kite_fem_structure.spring_elements, spring_l0s): + n1 = int(spring_element.spring.n1) + n2 = int(spring_element.spring.n2) + key = (min(n1, n2), max(n1, n2)) + if spring_element.springtype == "pulley": + l0 = l0 / 2 + l0_map[key] = float(l0) - for i, springtype in enumerate(springtypes): - if springtype == "pulley": - l0s[i] /= 2 + # Beam elements (inflatable beams) + for beam_element in kite_fem_structure.beam_elements: + n1 = int(beam_element.beam.n1) + n2 = int(beam_element.beam.n2) + key = (min(n1, n2), max(n1, n2)) + l0_map[key] = float(beam_element.L) - # Map l0s from kitefem output to askite input - l0_map = {(min(n1, n2), max(n1, n2)): l0 for n1, n2, l0 in zip(n1s, n2s, l0s)} + # Map to ASKITE connectivity ordering. Use NaN for unmatched keys to keep + # the array numeric and HDF5-compatible. mapped_l0s = [] - for n1c, n2c in zip(n1_conn, n2_conn): + for connectivity in kite_connectivity_arr: + n1c, n2c = int(connectivity[0]), int(connectivity[1]) key = (min(n1c, n2c), max(n1c, n2c)) - l0_val = l0_map.get(key) - mapped_l0s.append(l0_val) - mapped_l0s = np.array(mapped_l0s) - return mapped_l0s + mapped_l0s.append(l0_map.get(key, np.nan)) + + return np.asarray(mapped_l0s, dtype=np.float64) def run_kite_fem( @@ -153,7 +255,7 @@ def run_kite_fem( fe_6d = [[fe[0], fe[1], fe[2], 0, 0, 0] for fe in f_ext_reshaped] fe_6d = np.array(fe_6d).flatten() - is_structural_converged,residual = kite_fem_structure.solve( + is_structural_converged, residual = kite_fem_structure.solve( fe=fe_6d, max_iterations=config_structural_kite_fem["max_iterations"], tolerance=config_structural_kite_fem["tolerance"], @@ -162,6 +264,8 @@ def run_kite_fem( relax_update=config_structural_kite_fem["relax_update"], k_update=config_structural_kite_fem["k_update"], I_stiffness=config_structural_kite_fem["I_stiffness"], + pseudo_dt=config_structural_kite_fem.get("pseudo_dt", None), + k_reg_min=config_structural_kite_fem.get("k_reg_min", 0.0), print_info=config_structural_kite_fem["print_info"], ) @@ -175,4 +279,85 @@ def run_kite_fem( f_int = np.where(kite_fem_structure.bc == True, f_int, -fe_6d) # remove moments f_int = f_int.reshape(-1, 6)[:, :3].flatten() + + if config_structural_kite_fem.get("is_with_diagnostics", False): + node_idx = config_structural_kite_fem.get("num_node_diagnostics", 34) + _diagnose_node_force_balance_fem( + kite_fem_structure, f_ext_flat, node_idx=node_idx + ) + return kite_fem_structure, is_structural_converged, struc_nodes, f_int + + +def _diagnose_node_force_balance_fem(kite_fem_structure, f_ext_flat, node_idx=34): + """Print per-spring force contributions at a given node for kite_fem diagnostics.""" + n3 = node_idx * 3 + f_ext_node = f_ext_flat[n3 : n3 + 3] + coords = kite_fem_structure.coords_current # flat, length = 3 * num_nodes + + f_int_node = np.zeros(3) + print(f"\n{'='*80}") + print(f"FORCE BALANCE DIAGNOSTIC (kite_fem) \u2014 Node {node_idx}") + print(f" Position: {coords[n3:n3+3]}") + print(f" f_ext: {f_ext_node} (|f_ext| = {np.linalg.norm(f_ext_node):.4f} N)") + print(f"{'='*80}") + + for se_idx, se in enumerate(kite_fem_structure.spring_elements): + n1 = se.spring.n1 + n2 = se.spring.n2 + if n1 != node_idx and n2 != node_idx: + continue + + # Compute current length and unit vector + unit, l_current = se.unit_vector(coords) + + # Handle pulley coupling + l_other_pulley = 0.0 + if se.springtype == "pulley": + other = kite_fem_structure.spring_elements[se.i_other_pulley] + _, l_other = other.unit_vector(coords) + l_other_pulley = l_other + + # Get spring force via the element's own method + fi_elem = se.spring_internal_forces(coords, l_other_pulley) + fi_3d = fi_elem[:3] # [fx, fy, fz] \u2014 force from n1 toward n2 + + # Convention: fi is subtracted at n1, added at n2 + if n1 == node_idx: + contrib = -fi_3d + else: + contrib = fi_3d + + f_int_node += contrib + + l0 = se.l0 + k = se.k + strain = (l_current - l0) / l0 if l0 > 0 else 0 + sign_str = "+" if n2 == node_idx else "-" + slack_str = " [SLACK]" if se.slack else "" + pulley_str = ( + f", l_other={l_other_pulley:.6f}" if se.springtype == "pulley" else "" + ) + f_mag = np.linalg.norm(fi_3d) + + print( + f" SE {se_idx:3d} [{n1:2d}\u2192{n2:2d}] {se.springtype:16s} " + f"l={l_current:.6f} l0={l0:.6f} strain={strain:+.6f} k={k:.1f} " + f"|F|={f_mag:.4f}N ({sign_str}){pulley_str}{slack_str}" + ) + print( + f" F_contrib = [{contrib[0]:+.4f}, {contrib[1]:+.4f}, {contrib[2]:+.4f}]" + ) + + f_residual_node = f_int_node + f_ext_node + print(f"{'\u2500'*80}") + print( + f" SUM f_int: [{f_int_node[0]:+.4f}, {f_int_node[1]:+.4f}, {f_int_node[2]:+.4f}] |f_int| = {np.linalg.norm(f_int_node):.4f} N" + ) + print( + f" f_ext: [{f_ext_node[0]:+.4f}, {f_ext_node[1]:+.4f}, {f_ext_node[2]:+.4f}] |f_ext| = {np.linalg.norm(f_ext_node):.4f} N" + ) + print( + f" f_residual: [{f_residual_node[0]:+.4f}, {f_residual_node[1]:+.4f}, {f_residual_node[2]:+.4f}] |f_res| = {np.linalg.norm(f_residual_node):.4f} N" + ) + print(f"{'='*80}\n") diff --git a/src/kitesim/structural_pss.py b/src/kitesim/structural_pss.py index 206ccf346..8fd925550 100644 --- a/src/kitesim/structural_pss.py +++ b/src/kitesim/structural_pss.py @@ -45,8 +45,15 @@ def instantiate( else: pss_initial_conditions.append([struc_nodes[i], vel_ini[i], m_arr[i], False]) + # PSS expects only 3 values per pulley entry: [idx_p3, idx_p4, rest_length_p3p4] + # ASKITE stores 5: [cj, ck, l0_len_cj_ck, l0_len_ci_cj, ci] + # Trim to first 3 for PSS compatibility + pss_pulley_dict = { + key: val[:3] for key, val in pulley_line_to_other_node_pair_dict.items() + } + pss_params = { - "pulley_other_line_pair": pulley_line_to_other_node_pair_dict, + "pulley_other_line_pair": pss_pulley_dict, "dt": config["structural_pss"]["dt"], "t_steps": config["structural_pss"]["n_internal_time_steps"], "abs_tol": config["structural_pss"]["abs_tol"], @@ -71,14 +78,14 @@ def instantiate( logging.debug(f"--- pulley!: ci: {ci}, cj: {cj}, ck: {ck}") l0_this_piece = l0_len_ci_cj - delta = curr_set_rest_length - l0_this_piece + delta = l0_this_piece - curr_set_rest_length # was opposite logging.debug( f"curr_set_rest_length: {curr_set_rest_length}, l0_this_piece: {l0_this_piece}, delta: {delta}" ) else: l0_this_piece = l0_arr[idx] - delta = curr_set_rest_length - l0_this_piece + delta = l0_this_piece - curr_set_rest_length # was opposite psystem.update_rest_length(idx, delta) # struc_nodes_initial @@ -92,6 +99,96 @@ def instantiate( ) +def _diagnose_node_force_balance(psystem, f_ext, node_idx=34): + """Print per-spring force contributions at a given node for diagnostics.""" + n3 = node_idx * 3 + f_ext_node = f_ext[n3 : n3 + 3] + + # Recompute per-spring forces the same way PSS does + x_current = np.array([p.x for p in psystem.particles]).flatten() + connectivity = psystem._ParticleSystem__connectivity_matrix + springs = psystem.springdampers + pulley_dict = psystem._ParticleSystem__pulley_other_line_pair + + f_int_node = np.zeros(3) + print(f"\n{'='*80}") + print(f"FORCE BALANCE DIAGNOSTIC — Node {node_idx}") + print(f" Position: {x_current[n3:n3+3]}") + print(f" f_ext: {f_ext_node} (|f_ext| = {np.linalg.norm(f_ext_node):.4f} N)") + print(f"{'='*80}") + + for idx, link in enumerate(springs): + ci, cj = int(connectivity[idx][0]), int(connectivity[idx][1]) + if ci != node_idx and cj != node_idx: + continue + + # Compute spring force + p1 = x_current[ci * 3 : ci * 3 + 3] + p2 = x_current[cj * 3 : cj * 3 + 3] + rel = p1 - p2 + norm_pos = np.linalg.norm(rel) + l0 = link.l0 + k = link._SpringDamper__k + + if norm_pos > 0: + unit = rel / norm_pos + else: + unit = np.zeros(3) + + # Pulley coupling delta + delta_pulley = 0.0 + if str(link.linktype).lower() == "pulley" and str(idx) in pulley_dict: + idx_p3, idx_p4, rest_len_other = pulley_dict[str(idx)] + p3 = x_current[int(idx_p3) * 3 : int(idx_p3) * 3 + 3] + p4 = x_current[int(idx_p4) * 3 : int(idx_p4) * 3 + 3] + norm_other = np.linalg.norm(p3 - p4) + delta_pulley = norm_other - rest_len_other + + # Check noncompressive cutoff + is_zero = False + if str(link.linktype).lower() == "noncompressive" and norm_pos <= l0: + is_zero = True + + if is_zero: + f_spring = np.zeros(3) + else: + f_spring = -k * (norm_pos - l0 + delta_pulley) * unit + + # Sign: f_spring is force on ci from cj. ci gets +f_spring, cj gets -f_spring + if ci == node_idx: + contrib = f_spring + else: + contrib = -f_spring + + f_int_node += contrib + + strain = (norm_pos - l0) / l0 if l0 > 0 else 0 + sign_str = "+" if ci == node_idx else "-" + pulley_str = f", delta_pulley={delta_pulley:.6f}" if delta_pulley != 0 else "" + slack_str = " [SLACK]" if is_zero else "" + print( + f" SD {idx:3d} [{ci:2d}→{cj:2d}] {str(link.linktype):16s} " + f"l={norm_pos:.6f} l0={l0:.6f} strain={strain:+.6f} k={k:.1f} " + f"|F|={np.linalg.norm(f_spring):.4f}N ({sign_str}){pulley_str}{slack_str}" + ) + print( + f" F_contrib = [{contrib[0]:+.4f}, {contrib[1]:+.4f}, {contrib[2]:+.4f}]" + ) + + f_residual_node = f_int_node + f_ext_node + print(f"{'─'*80}") + print( + f" SUM f_int: [{f_int_node[0]:+.4f}, {f_int_node[1]:+.4f}, {f_int_node[2]:+.4f}] |f_int| = {np.linalg.norm(f_int_node):.4f} N" + ) + print( + f" f_ext: [{f_ext_node[0]:+.4f}, {f_ext_node[1]:+.4f}, {f_ext_node[2]:+.4f}] |f_ext| = {np.linalg.norm(f_ext_node):.4f} N" + ) + print( + f" f_residual: [{f_residual_node[0]:+.4f}, {f_residual_node[1]:+.4f}, {f_residual_node[2]:+.4f}] |f_res| = {np.linalg.norm(f_residual_node):.4f} N" + ) + print(f"{'='*80}\n") + + def run_pss(psystem, f_ext, config_structural_pss): """ Run the particle system simulation with kinetic damping until convergence. @@ -140,6 +237,11 @@ def run_pss(psystem, f_ext, config_structural_pss): # Extracting internal force f_int = psystem.f_int + ## DIAGNOSTIC: Force balance at configurable node + if config_structural_pss.get("is_with_diagnostics", False): + node_idx = config_structural_pss.get("num_node_diagnostics", 34) + _diagnose_node_force_balance(psystem, f_ext, node_idx=node_idx) + return psystem, is_structural_converged, struc_nodes, f_int diff --git a/src/kitesim/utils.py b/src/kitesim/utils.py index 16e91e15b..db0956be7 100644 --- a/src/kitesim/utils.py +++ b/src/kitesim/utils.py @@ -129,8 +129,10 @@ def calculate_projected_area(points): def printing_rest_lengths(tracking_data, struc_geometry): """ - Print the current and initial rest lengths of all bridle lines defined in bridle_elements by - averaging the lengths of all their segments in bridle_connections. + Print current and initial lengths of bridle lines by averaging the lengths + of their segments in bridle_connections. + + Supports both legacy `bridle_elements` and newer `bridle_lines` YAML schemas. For each connection: - if 3 nodes, sum ci-cj and cj-ck @@ -140,15 +142,21 @@ def printing_rest_lengths(tracking_data, struc_geometry): struc_nodes = positions[-1] # current positions initial_struc_nodes = positions[0] # initial positions - bridle_elements_data = struc_geometry["bridle_elements"]["data"] - bridle_line_names = [row[0] for row in bridle_elements_data] + if "bridle_elements" in struc_geometry: + bridle_defs_data = struc_geometry["bridle_elements"]["data"] + elif "bridle_lines" in struc_geometry: + bridle_defs_data = struc_geometry["bridle_lines"]["data"] + else: + raise KeyError("Expected 'bridle_elements' or 'bridle_lines' in struc_geometry") + + bridle_line_names = [row[0] for row in bridle_defs_data] bridle_connections_data = struc_geometry["bridle_connections"]["data"] # YAML l0 lookup dictionary - bridle_elements_yaml = {row[0]: row[1] for row in bridle_elements_data} + bridle_elements_yaml = {row[0]: row[1] for row in bridle_defs_data} - print("\nCurrent bridle line lengths:") - results = [] + # Collect data rows: (line_name, curr_length, yaml_l0, delta_pct, initial_nodal_dist) + rows = [] for line_name in bridle_line_names: total_length = 0.0 initial_total_length = 0.0 @@ -181,35 +189,64 @@ def printing_rest_lengths(tracking_data, struc_geometry): count += 1 if count > 0: - avg_length = total_length / count - initial_avg_length = initial_total_length / count - delta_pct = ( - 100.0 * (avg_length - initial_avg_length) / initial_avg_length - if initial_avg_length != 0 - else 0.0 - ) + curr_l = total_length / count + init_nodal_dist = initial_total_length / count - # yaml l0 value yaml_l0 = bridle_elements_yaml.get(line_name, None) try: yaml_l0_val = float(yaml_l0) if yaml_l0 is not None else None except Exception: yaml_l0_val = yaml_l0 - delta_yaml_pct = ( - 100.0 * (avg_length - yaml_l0_val) / yaml_l0_val + delta_pct = ( + 100.0 * (curr_l - yaml_l0_val) / yaml_l0_val if yaml_l0_val not in (None, 0) else 0.0 ) - results.append( - f"{line_name}: curr: {avg_length:.3f} m, " - f"initial: {initial_avg_length:.3f} m, " - f"delta: {delta_pct:+.2f} %, " - f"yaml: {yaml_l0_val} m, " - f"delta_yaml: {delta_yaml_pct:+.2f} %" - ) + rows.append((line_name, curr_l, yaml_l0_val, delta_pct, init_nodal_dist)) + + if not rows: + print("\nNo bridle lines with matching connections found.") + return + + # Determine column widths for aligned output + name_w = max(len(r[0]) for r in rows) if rows else 10 + + # Print header + print( + f"\n{'Line':<{name_w}} {'current_l':>10} {'initial_l0_yaml':>16} {'delta':>8} {'initial_nodal_distance':>23}" + ) + print(f"{'-' * name_w} {'-' * 10} {'-' * 16} {'-' * 8} {'-' * 23}") + + for name, curr_l, yaml_l0, delta_pct, init_dist in rows: + yaml_str = f"{yaml_l0:.3f} m" if yaml_l0 is not None else "N/A" + print( + f"{name:<{name_w}} {curr_l:>7.3f} m {yaml_str:>16} {delta_pct:>+7.2f}% ({init_dist:>19.3f} m)" + ) + + +def rotate_geometry(struc_nodes, rotation_angle_deg): + """ + Rotate structural nodes around the origin in the XZ plane (about the Y-axis). + + Args: + struc_nodes (np.ndarray): Array of structural node positions (n_struc_nodes, 3). + rotation_angle_deg (float): Rotation angle in degrees. + Positive angles tilt geometry toward +X (right-hand rule around +Y). + + Returns: + np.ndarray: Rotated structural node array (n_struc_nodes, 3). + """ + angle_rad = np.radians(rotation_angle_deg) + cos_angle = np.cos(angle_rad) + sin_angle = np.sin(angle_rad) + + # Rotation matrix around +Y. For z>0 and positive angle, x increases. + R = np.array( + [[cos_angle, 0.0, sin_angle], [0.0, 1.0, 0.0], [-sin_angle, 0.0, cos_angle]] + ) + + rotated_struc_nodes = struc_nodes @ R.T - # print once - for result in results: - print(result) + return rotated_struc_nodes