diff --git a/.gitignore b/.gitignore index a745606..ec3effa 100644 --- a/.gitignore +++ b/.gitignore @@ -7,4 +7,6 @@ slprj/ resources/ *.m~ *_msf.* -**/Cache_temp \ No newline at end of file +**/Cache_temp +git.m +Extra/*.mp4 \ No newline at end of file diff --git a/Additional_tests/Tether/Catenary_3D/Run_catenary_curve.m b/Additional_tests/Tether/Catenary_3D/Run_catenary_curve.m new file mode 100644 index 0000000..402ab0e --- /dev/null +++ b/Additional_tests/Tether/Catenary_3D/Run_catenary_curve.m @@ -0,0 +1,80 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function status = Run_catenary_curve() +%Run_catenary_curve - Tether test case: catenary curve in 3D environment +% Cable hanging between 2 points in 3D at different altitudes +% +% Inputs: +% None +% +% Outputs: +% status - Passed (1) or failed (0) +% +% Other m-files required: initAllSimParams_DE2019.m +% initAllSimParams_catenary.m +% distance2curve.m +% Subfunctions: none +% MAT-files required: none +% +% Syntax: status = Run_catenary_curve() +% +% Author: Dylan Eijkelhof, M.Sc. +% Delft University of Technology +% email address: d.eijkelhof@tudelft.nl +% March 2021; Last revision: 17-March-2021 + +%------------- BEGIN CODE -------------- + +%% Set Variables +[act, base_windspeed, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = initAllSimParams_DE2019(6); + +[simInit, T] = initAllSimParams_catenary(ENVMT, simInit, T); %#ok<*ASGLU> + +%% Run Sim +simOut = sim('tether_catenary_R2019B.slx', 'SrcWorkspace', 'current'); + +%% Test Criteria +%Plot result +% plot3( [0;flipud(Tether_x.Data(:,end));simInit.pos_W_init(1)], [0;flipud(Tether_y.Data(:,end));simInit.pos_W_init(2)],[0;flipud(Tether_z.Data(:,end));simInit.pos_W_init(3)] , '-', 'color', [0.1 0.1 0.1], 'Markersize',2, 'Linewidth', 1.2, 'MarkerFaceColor', [0.3 0.3 0.3]); hold on; +% plot3(simInit.x_catenary, simInit.y_catenary, simInit.z_catenary,'-o') + +xy = zeros(1,numel(simOut.Tether_x.Data(:,end))); +for i = 1:numel(simOut.Tether_x.Data(:,end)) + xy(1,i) = norm([simOut.Tether_x.Data(i,end),simOut.Tether_y.Data(i,end)]); +end + +y_catenary = zeros(numel(simInit.x_catenary),1); +for i = 1:numel(simInit.x_catenary) + y_catenary(i,1) = norm([simInit.x_catenary(i),simInit.y_catenary(i)]); +end + +[~,distance,~] = distance2curve([y_catenary simInit.z_catenary'],[xy' simOut.Tether_z.Data(:,end)]); + +average_error = sum(distance)/numel(distance); + +if average_error <= T.tether_inital_lenght*0.01 %1% of tether length + disp(' ') + disp('Success') + disp('---------- Tether seems to follow the analytical catenary curve -------------') + disp('---------- Plot to see the result -------------') + status = 1; +else + disp(' ') + disp('Failed') + status = 0; +end +%------------- END CODE -------------- +end \ No newline at end of file diff --git a/Additional_tests/Tether/Catenary_3D/distance2curve.m b/Additional_tests/Tether/Catenary_3D/distance2curve.m new file mode 100644 index 0000000..d6ceeef --- /dev/null +++ b/Additional_tests/Tether/Catenary_3D/distance2curve.m @@ -0,0 +1,1652 @@ +function [xy,distance,t_a] = distance2curve(curvexy,mapxy,interpmethod) +% distance2curve: minimum distance from a point to a general curvilinear n-dimensional arc +% usage: [xy,distance,t] = distance2curve(curvexy,mapxy) % uses linear curve segments +% usage: [xy,distance,t] = distance2curve(curvexy,mapxy,interpmethod) +% +% Identifies the closest point along a general space curve (a 1-d path +% in some space) to some new set of points. The curve may be piecewise +% linear or a parametric spline or pchip model. +% +% arguments: (input) +% curvexy - An nxp real numeric array containing the points of the +% curve. For 2-dimensional curves, p == 2. This will be a list +% of points (each row of the array is a new point) that +% define the curve. The curve may cross itself in space. +% Closed curves are acceptable, in which case the first +% and last points would be identical. (Sorry, but periodic +% end conditions are not an option for the spline at this time.) +% +% Since a curve makes no sense in less than 2 dimensions, +% p >= 2 is required. +% +% mapxy - an mxp real numeric array, where m is the number of new points +% to be mapped to the curve in term of their closest distance. +% +% These points which will be mapped to the existing curve +% in terms of the minimium (euclidean, 2-norm) distance +% to the curve. Each row of this array will be a different +% point. +% +% interpmethod - (OPTIONAL) string flag - denotes the method +% used to compute the arc length of the curve. +% +% method may be any of 'linear', 'spline', or 'pchip', +% or any simple contraction thereof, such as 'lin', +% 'sp', or even 'p'. +% +% interpmethod == 'linear' --> Uses a linear chordal +% approximation to define the curve. +% This method is the most efficient. +% +% interpmethod == 'pchip' --> Fits a parametric pchip +% approximation. +% +% interpmethod == 'spline' --> Uses a parametric spline +% approximation to fit the curves. Generally for +% a smooth curve, this method may be most accurate. +% +% DEFAULT: 'linear' +% +% arguments: (output) +% xy - an mxp array, contains the closest point identified along +% the curve to each of the points provided in mapxy. +% +% distance - an mx1 vector, the actual distance to the curve, +% in terms minimum Euclidean distance. +% +% t - fractional arc length along the interpolating curve to that +% point. This is the same value that interparc would use to +% produce the points in xy. +% +% +% Example: +% % Find the closest points and the distance to a polygonal line from +% % several test points. +% +% curvexy = [0 0;1 0;2 1;0 .5;0 0]; +% mapxy = [3 4;.5 .5;3 -1]; +% [xy,distance,t] = distance2curve(curvexy,mapxy,'linear') +% % xy = +% % 2 1 +% % 0.470588235294118 0.617647058823529 +% % 1.5 0.5 +% % distance = +% % 3.16227766016838 +% % 0.121267812518166 +% % 2.12132034355964 +% % t = +% % 0.485194315877587 +% % 0.802026225550702 +% % 0.34308419095021 +% +% +% plot(curvexy(:,1),curvexy(:,2),'k-o',mapxy(:,1),mapxy(:,2),'r*') +% hold on +% plot(xy(:,1),xy(:,2),'g*') +% line([mapxy(:,1),xy(:,1)]',[mapxy(:,2),xy(:,2)]','color',[0 0 1]) +% axis equal +% +% +% Example: +% % Solve for the nearest point on the curve of a 3-d quasi-elliptical +% % arc (sampled and interpolated from 20 points) mapping a set of points +% % along a surrounding circle onto the ellipse. This is the example +% % used to generate the screenshot figure. +% t = linspace(0,2*pi,20)'; +% curvexy = [cos(t) - 1,3*sin(t) + cos(t) - 1.25,(t/2 + cos(t)).*sin(t)]; +% +% s = linspace(0,2*pi,100)'; +% mapxy = 5*[cos(s),sin(s),sin(s)]; +% xy = distance2curve(curvexy,mapxy,'spline'); +% +% plot3(curvexy(:,1),curvexy(:,2),curvexy(:,3),'ko') +% line([mapxy(:,1),xy(:,1)]',[mapxy(:,2),xy(:,2)]',[mapxy(:,3),xy(:,3)]','color',[0 0 1]) +% axis equal +% axis square +% box on +% grid on +% view(26,-6) +% +% +% Example: +% % distance2curve is fairly fast, at least for the linear case. +% % Map 1e6 points onto a polygonal curve in 10 dimensions. +% curvexy = cumsum(rand(10,10)); +% mapxy = rand(1000000,10)*5; +% tic,[xy,distance] = distance2curve(curvexy,mapxy,'linear');toc +% % Elapsed time is 2.867453 seconds. +% +% +% See also: interparc, spline, pchip, interp1, arclength +% +% Author: John D'Errico +% e-mail: woodchips@rochester.rr.com +% Release: 1.0 +% Release date: 9/22/2010 + +% check for errors, defaults, etc... +if (nargin < 2) + error('DISTANCE2CURVE:insufficientarguments', ... + 'at least curvexy and mapxy must be supplied') +elseif nargin > 3 + error('DISTANCE2CURVE:abundantarguments', ... + 'Too many arguments were supplied') +end + +% get the dimension of the space our points live in +[n,p] = size(curvexy); + +if isempty(curvexy) || isempty(mapxy) + % empty begets empty. you might say this was a pointless exercise. + xy = zeros(0,p); + distance = zeros(0,p); + t_a = zeros(0,p); + return +end + +% do curvexy and mapxy live in the same space? +if size(mapxy,2) ~= p + error('DISTANCE2CURVE:improperpxorpy', ... + 'curvexy and mapxy do not appear to live in the same dimension spaces') +end + +% do the points live in at least 2 dimensions? +if p < 2 + error('DISTANCE2CURVE:improperpxorpy', ... + 'The points MUST live in at least 2 dimensions for any curve to be defined.') +end + +% how many points to be mapped to the curve? +m = size(mapxy,1); + +% make sure that curvexy and mapxy are doubles, as uint8, etc +% would cause problems down the line. +curvexy = double(curvexy); +mapxy = double(mapxy); + +% test for complex inputs +if ~isreal(curvexy) || ~isreal(mapxy) + error('DISTANCE2CURVE:complexinputs','curvexy and mapxy may not be complex') +end + +% default for interpmethod +if (nargin < 3) || isempty(interpmethod) + interpmethod = 'linear'; +elseif ~ischar(interpmethod) + error('DISTANCE2CURVE:invalidinterpmethod', ... + 'Invalid method indicated. Only ''linear'',''pchip'',''spline'' allowed') +else + validmethods = {'linear' 'pchip' 'spline'}; + ind = strmatch(lower(interpmethod),validmethods); + if isempty(ind) || (length(ind) > 1) + error('DISTANCE2CURVE:invalidinterpmethod', ... + 'Invalid method indicated. Only ''linear'',''pchip'',''spline'' allowed') + end + interpmethod = validmethods{ind}; +end + +% if the curve is a single point, stop here +if n == 1 + % return the appropriate parameters + xy = repmat(curvexy,m,1); + t_a = zeros(m,1); + + % 2 norm distance, or sqrt of sum of squares of differences + distance = sqrt(sum(bsxfun(@minus,curvexy,mapxy).^2,2)); + + % we can drop out here + return +end + +% compute the chordal linear arclengths, and scale to [0,1]. +seglen = sqrt(sum(diff(curvexy,[],1).^2,2)); +t0 = [0;cumsum(seglen)/sum(seglen)]; + +% We need to build some parametric splines. +% compute the splines, storing the polynomials in one 3-d array +ppsegs = cell(1,p); +% the breaks for the splines will be t0, unless spline got fancy +% on us here. +breaks = t0; +for i = 1:p + switch interpmethod + case 'linear' + dt = diff(t0); + ind = 1:(n-1); + ppsegs{i} = [(curvexy(ind + 1,i) - curvexy(ind,i))./dt,curvexy(ind,i)]; + case 'pchip' + spl = pchip(t0,curvexy(:,i)); + ppsegs{i} = spl.coefs; + case 'spline' + spl = spline(t0,curvexy(:,i)); + breaks = spl.breaks'; + nc = numel(spl.coefs); + if nc < 4 + % just pretend it has cubic segments + spl.coefs = [zeros(1,4-nc),spl{i}.coefs]; + spl.order = 4; + end + ppsegs{i} = spl.coefs; + end +end + +% how many breaks did we find in the spline? This is +% only a thing to worry about for a spline based on few points, +% when the function spline.m may choose to use only two breaks. +nbr = numel(breaks); + +% for each point in mapxy, find the closest point to those +% in curvexy. This part we can do in a vectorized form. +pointdistances = ipdm(mapxy,curvexy,'metric',2, ... + 'result','structure','subset','nearestneighbor'); + +% initialize the return variables, using the closest point +% found in the set curvexy. +xy = curvexy(pointdistances.columnindex,:); +distance = pointdistances.distance; +t = t0(pointdistances.columnindex); + +% we must now do at least some looping, still vectorized where possible. +% the piecewise linear case is simpler though, so do it separately. +if strcmp(interpmethod,'linear'); + % loop over the individual points, vectorizing in the number of + % segments, when there are many segments, but not many points to map. + if n >= (5*m) + % many segments, so loop over the points in mapxy + for i = 1:m + % the i'th point in mapxy + xyi = mapxy(i,:); + + % Compute the location (in t) of the minimal distance + % point to xyi, for all lines. + tnum = zeros(nbr - 1,1); + tden = tnum; + for j = 1:p + ppj = ppsegs{j}; + tden = tden + ppj(:,1).^2; + tnum = tnum + ppj(:,1).*(xyi(j) - ppj(:,2)); + end + tmin = tnum./tden; + + % toss out any element of tmin that is less than or equal to + % zero, or or is greater than dt for that segment. + tmin((tmin <= 0) | (tmin >= diff(t0))) = NaN; + + % for any segments with a valid minimum distance inside the + % segment itself, compute that distance. + dmin = zeros(nbr - 1,1); + for j = 1:p + ppi = ppsegs{j}; + dmin = dmin + (ppi(:,1).*tmin + ppi(:,2) - xyi(j)).^2; + end + dmin = sqrt(dmin); + + % what is the minimum distance among these segments? + [mindist,minind] = min(dmin); + + if ~isnan(mindist) && (distance(i) > mindist) + % there is a best segment, better than the + % closest point from curvexy. + distance(i) = mindist; + t(i) = tmin(minind) + t0(minind); + + for j = 1:p + ppj = ppsegs{j}; + xy(i,j) = ppj(minind,1).*tmin(minind) + ppj(minind,2); + end + + end + end + else + for i = 1:(n-1) + % the i'th segment of the curve + t1 = t0(i); + t2 = t0(i+1); + + % Compute the location (in t) of the minimal distance + % point to mapxy, for all points. + tnum = zeros(m,1); + tden = 0; + for j = 1:p + ppj = ppsegs{j}; + tden = tden + ppj(i,1).^2; + tnum = tnum + ppj(i,1).*(mapxy(:,j) - ppj(i,2)); + end + tmin = tnum./tden; + + % We only care about those points for this segment where there + % is a minimal distance to the segment that is internal to the + % segment. + k = find((tmin > 0) & (tmin < (t2-t1))); + nk = numel(k); + + if nk > 0 + % for any points with a valid minimum distance inside the + % segment itself, compute that distance. + dmin = zeros(nk,1); + xymin = zeros(nk,p); + for j = 1:p + ppj = ppsegs{j}; + xymin(:,j) = ppj(i,1).*tmin(k) + ppj(i,2); + dmin = dmin + (xymin(:,j) - mapxy(k,j)).^2; + end + dmin = sqrt(dmin); + + L = dmin < distance(k); + % this segment has a closer point + % closest point from curvexy. + if any(L) + distance(k(L)) = dmin(L); + t(k(L)) = tmin(k(L)) + t0(i); + xy(k(L),:) = xymin(L,:); + end + end + end + end + + % for the linear case, t is identical to the fractional arc length + % along the curve. + t_a = t; + +else + % cubic segments. here it is simplest to loop over the + % distinct curve segments. We need not test the endpoints + % of the segments, since the call to ipdm did that part. + xytrans = zeros(1,p); + polydiff = @(dp) dp(1:6).*[6 5 4 3 2 1]; + for j = 1:(n-1) + % the j'th curve segment + t1 = t0(j); + t2 = t0(j+1); + + % for a polynomial in t that looks like + % P(t) = a1*t^3 + a2*t^2 + a3*t + a4, in each dimension, + % extract the polynomial pieces for the 6th degree polynomial + % in t for the square of the Euclidean distance to the curve. + % Thus, (P_x(t) - x0)^2 + (P_y(t) - y0)^2 + ... + % + % a1^2*t^6 + % 2*a1*a2*t^5 + % (2*a1*a3 + a2^2)*t^4 + % (2*a2*a3 - 2*a1*x0 + 2*a1*a4)*t^3 + % (a3^2 - 2*a2*x0 + 2*a2*a4)*t^2 + % (-2*a3*x0 + 2*a3*a4)*t + % x0^2 - 2*a4*x0 + a4^2 + % + % here, only the parts of this distance that are independent of + % the point itself are computed. so the x0 terms are not built + % yet. All of the terms with a4 in them will go away because + % of the translation. + distpoly0 = zeros(1,7); + for i = 1:p + ppi = ppsegs{i}; + % this will allow us to translate each poly to pass through + % (0,0) (i.e., at t = 0) + xytrans(i) = ppi(j,4); + distpoly0(1:2) = distpoly0(1:2) + ppi(j,1).*[ppi(j,1),2*ppi(j,2)]; + distpoly0(3) = distpoly0(3) + 2.*ppi(j,1).*ppi(j,3) + ppi(j,2).^2; + distpoly0(4) = distpoly0(4) + 2.*ppi(j,2).*ppi(j,3); + distpoly0(5) = distpoly0(5) + ppi(j,3).^2; + end + + for i = 1:m + % the i'th point, translated by xytrans. The translation does + % not change the distance to this segment, but it does make + % the computations more robust to numerical problems. + xyi = mapxy(i,:) - xytrans; + + % update the poly for this particular point + % (-2*a1*x0)*t^3 + % (-2*a2*x0)*t^2 + % (-2*a3*x0)*t + % x0^2 + distpoly = distpoly0; + for k = 1:p + ppk = ppsegs{k}; + distpoly(4:6) = distpoly(4:6) - 2.*ppk(j,1:3).*xyi(k); + distpoly(7) = distpoly(7) + xyi(k).^2; + end + + % find any minima of this polynomial in the interval (0,t2-t1). + % we can ignore solutions that happen at the endpoints of the + % interval, since those are already covered by ipdm. + % + % merely compute the zeros of the derivative polynomial + diffpoly = polydiff(distpoly); + tstationary = roots(diffpoly); + % discard any with an imaginary part, those that are less + % than 0, or greater than t2-t1. + k = (imag(tstationary) ~= 0) | ... + (real(tstationary) <= 0) | ... + (real(tstationary) >= (t2 - t1)); + tstationary(k) = []; + + % for any solutions that remain, compute the distance. + if ~isempty(tstationary) + mindist = zeros(size(tstationary)); + xyij = zeros(numel(tstationary),p); + for k = 1:p + xyij(:,k) = polyval(ppsegs{k}(j,:),tstationary); + mindist = mindist + (mapxy(i,k) - xyij(:,k)).^2; + end + mindist = sqrt(mindist); + % just in case there is more than one stationary point + [mindist,ind] = min(mindist); + + if mindist < distance(i) + % we found a point on this segment that is better + % than the endpoint values for that segment. + distance(i) = mindist; + xy(i,:) = xyij(ind,:); + t(i) = tstationary(ind) + t0(j); + end + end % if ~isempty(tstationary) + end % for i = 1:n + end % for j = 1:(n-1) + + % do we need to return t_a? t_a is the same number that interparc + % uses, whereas t as we have computed it so far is just the fractional + % chordal arclength. + % + % Don't bother doing this last piece unless that argument is requested, + % since it takes some additional work to do. + if nargout >= 2 + % build new piecewise polynomials for each segment that + % represent (dx/dt)^2 + (dy/dt)^2 + ... + % + % Since each poly must be cubic at this point, the result will be + % a 4th degree piecewise polynomial. + kernelcoefs = zeros(nbr-1,5); + for i = 1:p + ppi = ppsegs{i}; + kernelcoefs = kernelcoefs + [9*ppi(:,1).^2, ... + 12*ppi(:,1).*ppi(:,2), ... + 4*ppi(:,2).^2 + 6*ppi(:,1).*ppi(:,3), ... + 4*ppi(:,2).*ppi(:,3), ppi(:,3).^2]; + end + + % get the arc length for each segment. quadgk will suffice here + % since we need to integrate the sqrt of each poly + arclengths = zeros(nbr-1,1); + for i = 1:(nbr - 1) + lengthfun = @(t) sqrt(polyval(kernelcoefs(i,:),t)); + arclengths(i) = quadgk(lengthfun,0,t0(i+1) - t0(i)); + end + + % get the cumulative arclengths, then scale by the sum + % this gives us fractional arc lengths. + arclengths = cumsum(arclengths); + totallength = arclengths(end); + arclengths = [0;arclengths/totallength]; + + % where does each point fall in terms of fractional cumulative + % chordal arclength? (i.e., t0?) + [tbin,tbin] = histc(t,t0); + tbin(tbin < 1) = 1; % being careful at the bottom end + tbin(tbin >= nbr) = nbr - 1; % if the point fell at the very top... + + % the total length below the segment in question + t_a = arclengths(tbin); + % now get the piece in the tbin segment + for i = 1:m + lengthfun = @(t) sqrt(polyval(kernelcoefs(tbin(i),:),t)); + t_a(i) = t_a(i) + quadgk(lengthfun,0,t(i) - t0(tbin(i)))/totallength; + end + + end + +end % if strcmp(interpmethod,'linear'); + + +% ========================================================== +function d = ipdm(data1,varargin) +% ipdm: Inter-Point Distance Matrix +% usage: d = ipdm(data1) +% usage: d = ipdm(data1,data2) +% usage: d = ipdm(data1,prop,value) +% usage: d = ipdm(data1,data2,prop,value) +% +% Arguments: (input) +% data1 - array of data points, each point is one row. p dimensional +% data will be represented by matrix with p columns. +% If only data1 is provided, then the distance matrix +% is computed between all pairs of rows of data1. +% +% If your data is one dimensional, it MUST form a column +% vector. A row vector of length n will be interpreted as +% an n-dimensional data set. +% +% data2 - second array, supplied only if distances are to be computed +% between two sets of points. +% +% +% Class support: data1 and data2 are assumed to be either +% single or double precision. I have not tested this code to +% verify its success on integer data of any class. +% +% +% Additional parameters are expected to be property/value pairs. +% Property/value pairs are pairs of arguments, the first of which +% (properties) must always be a character string. These strings +% may be shortened as long as the shortening is unambiguous. +% Capitalization is ignored. Valid properties for ipdm are: +% +% 'Metric', 'Subset', 'Limit', 'Result' +% +% 'Metric' - numeric flag - defines the distance metric used +% metric = 2 --> (DEFAULT) Euclidean distance = 2-norm +% The standard distance metric. +% +% metric = 1 --> 1-norm = sum of absolute differences +% Also sometimes known as the "city block +% metric", since this is the sum of the +% differences in each dimension. +% +% metric = inf --> infinity-norm = maximum difference +% over all dimensions. The name refers +% to the limit of the p-norm, as p +% approaches infinity. +% +% metric = 0 --> minimum difference over all dimensions. +% This is not really a useful norm in +% practice. +% +% Note: while other distance metrics exist, IMHO, these +% seemed to be the common ones. +% +% +% 'Result' - A string variable that denotes the style of returned +% result. Valid result types are 'Array', 'Structure'. +% Capitalization is ignored, and the string may be +% shortened if you wish. +% +% result = 'Array' --> (DEFAULT) A matrix of all +% interpoint distances will be generated. +% This array may be large. If this option +% is specified along with a minimum or +% maximum value, then those elements above +% or below the limiting values will be +% set as -inf or +inf, as appropriate. +% +% When any of 'LargestFew', 'SmallestFew', +% or 'NearestNeighbor' are set, then the +% resulting array will be a sparse matrix +% if 'array' is specified as the result. +% +% result = 'Structure' --> A list of all computed distances, +% defined as a structure. This structure +% will have fields named 'rowindex', +% 'columnindex', and 'distance'. +% +% This option will be useful when a subset +% criterion for the distances has been +% specified, since then the distance matrix +% may be very sparsely populated. Distances +% for pairs outside of the criterion will +% not be returned. +% +% +% 'Subset' - Character string, any of: +% +% 'All', 'Maximum', 'Minimum', 'LargestFew', 'SmallestFew', +% 'NearestNeighbor', 'FarthestNeighbor', or empty +% +% Like properties, capitalization is ignored here, and +% any unambiguous shortening of the word is acceptable. +% +% DEFAULT = 'All' +% +% Some interpoint distance matrices can be huge. Often +% these matrices are too large to be fully retained in +% memory, yet only the pair of points with the largest +% or smallest distance may be needed. When only some +% subset of the complete set of distances is of interest, +% these options allow you to specify which distances will +% be returned. +% +% If 'result' is defined to be an array, then a sparse +% matrix will be returned for the 'LargestFew', 'SmallestFew', +% 'NearestNeighbor', and 'FarthestNeighbor' subset classes. +% 'Minimum' and 'Maximum' will yield full matrices by +% default. If a structure is specified, then only those +% elements which have been identified will be returned. +% +% Where a subset is specified, its limiting value is +% specified by the 'Limit' property. Call that value k. +% +% +% 'All' --> (DEFAULT) Return all interpoint distances +% +% 'Minimum' --> Only look for those distances above +% the cutoff k. All other distances will +% be returned as -inf. +% +% 'Maximum' --> Only look for those distances below +% the cutoff k. All other distances will +% be returned as +inf. +% +% 'SmallestFew' --> Only return the subset of the k +% smallest distances. Where only one data +% set is provided, only the upper triangle +% of the inter-point distance matrix will +% be generated since that matrix is symmetric. +% +% 'LargestFew' --> Only return the subset of the k +% largest distances. Where only one data +% set is provided, only the upper triangle +% of the inter-point distance matrix will +% be generated since that matrix is symmetric. +% +% 'NearestNeighbor' --> Only return the single nearest +% neighbor in data2 to each point in data1. +% No limiting value is required for this +% option. If multiple points have the same +% nearest distance, then return the first +% such point found. With only one input set, +% a point will not be its own nearest +% neighbor. +% +% Note that exact replicates in a single set +% will cause problems, since a sparse matrix +% is returned by default. Since they will have +% a zero distance, they will not show up in +% the sparse matrix. A structure return will +% show those points as having a zero distance +% though. +% +% 'FarthestNeighbor' --> Only return the single farthest +% neighbor to each point. No limiting value +% is required for this option. If multiple +% points have the same farthest distance, +% then return the first such point found. +% +% +% 'Limit' - scalar numeric value or []. Used only when some +% Subset is specified. +% +% DEFAULT = [] +% +% +% 'ChunkSize' - allows a user with lower RAM limits +% to force the code to only grab smaller chunks of RAM +% at a time (where possible). This parameter is specified +% in bytes of RAM. The default is 32 megabytes, or 2^22 +% elements in any piece of the distance matrix. Only some +% options will break the problem into chunks, thus as long +% as a full matrix is expected to be returned, there seems +% no reason to break the problem up into pieces. +% +% DEFAULT = 2^25 +% +% +% Arguments: (output) +% d - array of interpoint distances, or a struct wth the +% fields {'rowindex', 'columnindex', 'distance'}. +% +% d(i,j) represents the distance between point i +% (from data1) and point j (from data2). +% +% If only one (n1 x p) array is supplied, then d will +% be an array of size == [n1,n1]. +% +% If two arrays (of sizes n1 x p and n2 x p) then d +% will be an array of size == [n1,n2]. +% +% +% Efficiency considerations: +% Where possible, this code will use bsxfun to compute its +% distances. +% +% +% Example: +% Compute the interpoint distances between all pairs of points +% in a list of 5 points, in 2 dimensions and using Euclidean +% distance as the distance metric. +% +% A = randn(5,2); +% d = ipdm(A,'metric',2) +% d = +% 0 2.3295 3.2263 2.0263 2.8244 +% 2.3295 0 1.1485 0.31798 1.0086 +% 3.2263 1.1485 0 1.4318 1.8479 +% 2.0263 0.31798 1.4318 0 1.0716 +% 2.8244 1.0086 1.8479 1.0716 0 +% +% (see the demo file for many other examples) +% +% See also: pdist +% +% Author: John D'Errico +% e-mail: woodchips@rochester.rr.com +% Release: 1.0 +% Release date: 2/26/08 + +% Default property values +params.Metric = 2; +params.Result = 'array'; +params.Subset = 'all'; +params.Limit = []; +params.ChunkSize = 2^25; + +% untangle the arguments +if nargin<1 + % if called with no arguments, then the user probably + % needs help. Give it to them. + help ipdm + return +end + +% were two sets of data provided? +pvpairs = {}; +if nargin==1 + % only 1 set of data provided + dataflag = 1; + data2 = []; +else + if ischar(varargin{1}) + dataflag = 1; + data2 = []; + pvpairs = varargin; + else + dataflag = 2; + data2 = varargin{1}; + if nargin>2 + pvpairs = varargin(2:end); + end + end +end + +% get data sizes for later +[n1,dim] = size(data1); +if dataflag == 2 + n2 = size(data2,1); +end + +% Test the class of the input variables +if ~(isa(data1,'double') || isa(data1,'single')) || ... + ((dataflag == 2) && ~(isa(data2,'double') || isa(data2,'single'))) + error('data points must be either single or double precision variables.') +end + +% do we need to process any property/value pairs? +if nargin>2 + params = parse_pv_pairs(params,pvpairs); + + % check for problems in the properties + + % was a legal Subset provided? + if ~isempty(params.Subset) && ~ischar(params.Subset) + error('If provided, ''Subset'' must be character') + elseif isempty(params.Subset) + params.Subset = 'all'; + end + valid = {'all','maximum','minimum','largestfew','smallestfew', ... + 'nearestneighbor','farthestneighbor'}; + ind = find(strncmpi(params.Subset,valid,length(params.Subset))); + if (length(ind)==1) + params.Subset = valid{ind}; + else + error(['Invalid Subset: ',params.Subset]) + end + + % was a limit provided? + if ~ismember(params.Subset,{'all','nearestneighbor','farthestneighbor'}) && ... + isempty(params.Limit) + error('No limit provided, but a Subset that requires a limit value was specified') + end + % check the limit values for validity + if length(params.Limit)>1 + error('Limit must be scalar or empty') + end + + switch params.Subset + case {'largestfew', 'smallestfew'} + % must be at least 1, and an integer + if (params.Limit<1) || (round(params.Limit)~=params.Limit) + error('Limit must be a positive integer for LargestFew or NearestFew') + end + end + + % was a legal Result provided? + if isempty(params.Result) + params.result = 'Array'; + elseif ~ischar(params.Result) + error('If provided, ''Result'' must be character or empty') + end + valid = {'array','structure'}; + ind = find(strncmpi(params.Result,valid,length(params.Result))); + if (length(ind)==1) + params.Result = valid{ind}; + else + error(['Invalid Result: ',params.Subset]) + end + + % check for the metric + if isempty(params.Metric) + params.Metric = 2; + elseif (length(params.Metric)~=1) || ~ismember(params.Metric,[0 1 2 inf]) + error('If supplied, ''Metric'' must be a scalar, and one of [0 1 2 inf]') + end +end % if nargin>2 + +% If Metric was given as 2, but the dimension is only 1, then it will +% be slightly faster (and equivalent) to use the 1-norm Metric. +if (dim == 1) && (params.Metric == 2) + params.Metric = 1; +end + +% Can we use bsxfun to compute the interpoint distances? +% Older Matlab releases will not have bsxfun, but if it is +% around, it will ne both faster and less of a memory hog. +params.usebsxfun = (5==exist('bsxfun','builtin')); + +% check for dimension mismatch if 2 sets +if (dataflag==2) && (size(data2,2)~=dim) + error('If 2 point sets provided, then both must have the same number of columns') +end + +% Total number of distances to compute, in case I must do it in batches +if dataflag==1 + n2 = n1; +end +ntotal = n1*n2; + +% FINALLY!!! Compute inter-point distances +switch params.Subset + case 'all' + % The complete set of interpoint distances. There is no need + % to break this into chunks, since we must return all distances. + % If that is too much to compute in memory, then it will fail + % anyway when we try to store the result. bsxfun will at least + % do the computation efficiently. + + % One set or two? + if dataflag == 1 + d = distcomp(data1,data1,params); + else + d = distcomp(data1,data2,params); + end + + % Must we return it as a struct? + if params.Result(1) == 's' + [rind,cind] = ndgrid(1:size(d,1),1:size(d,2)); + ds.rowindex = rind(:); + ds.columnindex = cind(:); + ds.distance = d(:); + d = ds; + end + + case {'minimum' 'maximum'} + % There is no reason to break this into pieces if the result + % sill be filled in the end with +/- inf. Only break it up + % if the final result is a struct. + if ((ntotal*8)<=params.ChunkSize) || (params.Result(1) == 'a') + % its small enough to do it all at once + + % One set or two? + if dataflag == 1 + d = distcomp(data1,data1,params); + else + d = distcomp(data1,data2,params); + end + + % Must we return it as a struct? + if params.Result(1) == 'a' + % its an array, fill the unwanted distances with +/- inf + if params.Subset(2) == 'i' + % minimum + d(d<=params.Limit) = -inf; + else + % maximum + d(d>=params.Limit) = +inf; + end + else + % a struct will be returned + if params.Subset(2) == 'i' + % minimum + [dist.rowindex,dist.columnindex] = find(d>=params.Limit); + else + % maximum + [dist.rowindex,dist.columnindex] = find(d<=params.Limit); + end + dist.distance = d(dist.rowindex + n1*(dist.columnindex-1)); + d = dist; + end + + else + % we need to break this into chunks. This branch + % will always return a struct. + + % this is the number of rows of data1 that we will + % process at a time. + bs = floor(params.ChunkSize/(8*n2)); + bs = min(n1,max(1,bs)); + + % Accumulate the result into a cell array. Do it this + % way because we don't know in advance how many elements + % that we will find satisfying the minimum or maximum + % limit specified. + accum = cell(0,1); + + % now loop over the chunks + batch = 1:bs; + while ~isempty(batch) + + % One set or two? + if dataflag == 1 + dist = distcomp(data1(batch,:),data1,params); + else + dist = distcomp(data1(batch,:),data2,params); + end + + % big or small as requested + if ('i'==params.Subset(2)) + % minimum value specified + [I,J,V] = find(dist>=params.Limit); + else + % maximum limit + [I,J] = find(dist<=params.Limit); + I = I(:); + J = J(:); + V = dist(I + (J-1)*length(batch)); + I = I + (batch(1)-1); + end + + % and stuff them into the cell structure + if ~isempty(V) + accum{end+1,1} = [I,J,V(:)]; %#ok + end + + % increment the batch + batch = batch + bs; + if batch(end)>n1 + batch(batch>n1) = []; + end + + end + + % convert the cells into one flat array + accum = cell2mat(accum); + + if isempty(accum) + d.rowindex = []; + d.columnindex = []; + d.distance = []; + else + % we found something + + % sort on the second column, to put them in a reasonable order + accum = sortrows(accum,[2 1]); + + d.rowindex = accum(:,1); + d.columnindex = accum(:,2); + d.distance = accum(:,3); + end + + end + + case {'smallestfew' 'largestfew'} + % find the k smallest/largest distances. k is + % given by params.Limit + + % if only 1 set, params.Limit must be less than n*(n-1)/2 + if dataflag == 1 + params.Limit = min(params.Limit,n1*(n1-1)/2); + end + + % is this a large problem? + if ((ntotal*8) <= params.ChunkSize) + % small potatoes + + % One set or two? + if dataflag == 1 + dist = distcomp(data1,data1,params); + % if only one data set, set the diagonal and + % below that to +/- inf so we don't find it. + temp = find(tril(ones(n1,n1),0)); + if params.Subset(1) == 's' + dist(temp) = inf; + else + dist(temp) = -inf; + end + else + dist = distcomp(data1,data2,params); + end + + % sort the distances to find those we need + if ('s'==params.Subset(1)) + % smallestfew + [val,tags] = sort(dist(:),'ascend'); + else + % largestfew + [val,tags] = sort(dist(:),'descend'); + end + val = val(1:params.Limit); + tags = tags(1:params.Limit); + + % recover the row and column index from the linear + % index returned by sort in tags. + [d.rowindex,d.columnindex] = ind2sub([n1,size(dist,2)],tags); + + % create the matrix as a sparse one or a struct? + if params.Result(1)=='a' + % its an array, so make the array sparse. + d = sparse(d.rowindex,d.columnindex,val,n1,size(dist,2)); + else + % a structure + d.distance = val; + end + + else + % chunks + + % this is the number of rows of data1 that we will + % process at a time. + bs = floor(params.ChunkSize/(8*n2)); + bs = min(n1,max(1,bs)); + + % We need to find the extreme cases. There are two possible + % algorithms, depending on how many total elements we will + % search for. + % 1. Only a very few total elements. + % 2. A relatively large number of total elements, forming + % a significant fraction of the total set. + % + % Case #1 would suggest to retain params.Limit numberr of + % elements from each batch, then at the end, sort them all + % to find the best few. Case #2 will result in too many + % elements to retain, so we must distinguish between these + % alternatives. + if (8*params.Limit*n1/bs) <= params.ChunkSize + % params.Limit is small enough to fall into case #1. + + % Accumulate the result into a cell array. Do it this + % way because we don't know in advance how many elements + % that we will find satisfying the minimum or maximum + % limit specified. + accum = cell(0,1); + + % now loop over the chunks + batch = (1:bs)'; + while ~isempty(batch) + % One set or two? + if dataflag == 1 + dist = distcomp(data1(batch,:),data1,params); + k = find(tril(ones(length(batch),n2),batch(1)-1)); + if ('s'==params.Subset(1)) + dist(k) = inf; + else + dist(k) = -inf; + end + else + dist = distcomp(data1(batch,:),data2,params); + end + + % big or small as requested, keeping only the best + % params.Limit number of elements + if ('s'==params.Subset(1)) + % minimum value specified + [tags,tags] = sort(dist(:),1,'ascend'); %#ok + tags = tags(1:bs); + [I,J] = ndgrid(batch,1:n2); + ijv = [I(tags),J(tags),dist(tags)]; + else + % maximum limit + [tags,tags] = sort(dist(:),1,'descend'); %#ok + tags = tags(1:bs); + [I,J] = ndgrid(batch,1:n2); + ijv = [I(tags),J(tags),dist(tags)]; + end + % and stuff them into the cell structure + accum{end+1,1} = ijv; %#ok + + % increment the batch + batch = batch + bs; + if batch(end)>n1 + batch(batch>n1) = []; + end + end + + % convert the cells into one flat array + accum = cell2mat(accum); + + % keep only the params.Limit best of those singled out + accum = sortrows(accum,3); + if ('s'==params.Subset(1)) + % minimum value specified + accum = accum(1:params.Limit,:); + else + % minimum value specified + accum = accum(end + 1 - (1:params.Limit),:); + end + d.rowindex = accum(:,1); + d.columnindex = accum(:,2); + d.distance = accum(:,3); + + % create the matrix as a sparse one or a struct? + if params.Result(1)=='a' + % its an array, so make the array sparse. + d = sparse(d.rowindex,d.columnindex,d.distance,n1,size(dist,2)); + end + + else + % params.Limit forces us into the domain of case #2. + % Here we cannot retain params.Limit elements from each chunk. + % so we will grab each chunk and append it to the best elements + % found so far, then filter out the best after each chunk is + % done. This may be slower than we want, but its the only way. + ijv = zeros(0,3); + + % loop over the chunks + batch = (1:bs)'; + while ~isempty(batch) + % One set or two? + if dataflag == 1 + dist = distcomp(data1(batch,:),data1,params); + k = find(tril(ones(length(batch),n2),batch(1)-1)); + if ('s'==params.Subset(1)) + dist(k) = inf; + else + dist(k) = -inf; + end + else + dist = distcomp(data1(batch,:),data2,params); + end + + [I,J] = ndgrid(batch,1:n2); + ijv = [ijv;[I(:),J(:),dist(:)]]; %#ok + + % big or small as requested, keeping only the best + % params.Limit number of elements + if size(ijv,1) > params.Limit + if ('s'==params.Subset(1)) + % minimum value specified + [tags,tags] = sort(ijv(:,3),1,'ascend'); %#ok + else + [tags,tags] = sort(ijv(:,3),1,'ascend'); %#ok + end + ijv = ijv(tags(1:params.Limit),:); + end + + % increment the batch + batch = batch + bs; + if batch(end)>n1 + batch(batch>n1) = []; + end + end + + % They are fully trimmed down. stuff a structure + d.rowindex = ijv(:,1); + d.columnindex = ijv(:,2); + d.distance = ijv(:,3); + + % create the matrix as a sparse one or a struct? + if params.Result(1)=='a' + % its an array, so make the array sparse. + d = sparse(d.rowindex,d.columnindex,d.distance,n1,size(dist,2)); + end + + end + + end + + case {'nearestneighbor' 'farthestneighbor'} + % find the closest/farthest neighbor for every point + + % is this a large problem? Or a 1-d problem? + if dim == 1 + % its a 1-d nearest/farthest neighbor problem. we can + % special case these easily enough, and all the distance + % metric options are the same in 1-d. + + % first split it into the farthest versus nearest cases. + if params.Subset(1) == 'f' + % farthest away + + % One set or two? + if dataflag == 1 + [d2min,minind] = min(data1); + [d2max,maxind] = max(data1); + else + [d2min,minind] = min(data2); + [d2max,maxind] = max(data2); + end + + d.rowindex = (1:n1)'; + d.columnindex = repmat(maxind,n1,1); + d.distance = repmat(d2max,n1,1); + + % which endpoint was further away? + k = abs((data1 - d2min)) >= abs((data1 - d2max)); + if any(k) + d.columnindex(k) = minind; + d.distance(k) = d2min; + end + + else + % nearest. this is mainly a sort and some fussing around. + d.rowindex = (1:n1)'; + d.columnindex = ones(n1,1); + d.distance = zeros(n1,1); + + % One set or two? + if dataflag == 1 + % if only one data point, then we are done + if n1 == 2 + % if exactly two data points, its trivial + d.columnindex = [2 1]; + d.distance = repmat(abs(diff(data1)),2,1); + elseif n1>2 + % at least three points. do a sort. + [sorted_data,tags] = sort(data1); + + % handle the first and last points separately + d.columnindex(tags(1)) = tags(2); + d.distance(tags(1)) = sorted_data(2) - sorted_data(1); + d.columnindex(tags(end)) = tags(end-1); + d.distance(tags(end)) = sorted_data(end) - sorted_data(end-1); + + ind = (2:(n1-1))'; + + d1 = sorted_data(ind) - sorted_data(ind-1); + d2 = sorted_data(ind+1) - sorted_data(ind); + + k = d1 < d2; + d.distance(tags(ind(k))) = d1(k); + d.columnindex(tags(ind(k))) = tags(ind(k)-1); + k = ~k; + d.distance(tags(ind(k))) = d2(k); + d.columnindex(tags(ind(k))) = tags(ind(k)+1); + end % if n1 == 2 + else + % Two sets of data. still really a sort and some fuss. + if n2 == 1 + % there is only one point in data2 + d.distance = abs(data1 - data2); + % d.columnindex is already set correctly + else + % At least two points in data2 + % We need to sort all the data points together, but also + % know which points from each set went where. ind12 and + % bool12 will help keep track. + ind12 = [1:n1,1:n2]'; + bool12 = [zeros(n1,1);ones(n2,1)]; + [sorted_data,tags] = sort([data1;data2]); + + ind12 = ind12(tags); + bool12 = bool12(tags); + + % where did each point end up after the sort? + loc1 = find(~bool12); + loc2 = find(bool12); + + % for each point in data1, what is the (sorted) data2 + % element which appears most nearly to the left of it? + cs = cumsum(bool12); + leftelement = cs(loc1); + + % any points which fell below the minimum element in data2 + % will have a zero for the index of the element on their + % left. fix this. + leftelement = max(1,leftelement); + + % likewise, any point greater than the max in data2 will + % have an n2 in left element. this too will be a problem + % later, so fix it. + leftelement = min(n2-1,leftelement); + + % distance to the left hand element + dleft = abs(sorted_data(loc1) - sorted_data(loc2(leftelement))); + dright = abs(sorted_data(loc1) - sorted_data(loc2(leftelement+1))); + + % find the points which are closer to the left element in data2 + k = (dleft < dright); + d.distance(ind12(loc1(k))) = dleft(k); + d.columnindex(ind12(loc1(k))) = ind12(loc2(leftelement(k))); + k = ~k; + d.distance(ind12(loc1(k))) = dright(k); + d.columnindex(ind12(loc1(k))) = ind12(loc2(leftelement(k)+1)); + + end % if n2 == 1 + end % if dataflag == 1 + end % if params.Subset(1) == 'f' + + % create the matrix as a sparse one or a struct? + if params.Result(1)=='a' + % its an array, so make the array sparse. + d = sparse(d.rowindex,d.columnindex,d.distance,n1,n2); + end + + elseif (ntotal>1000) && (((params.Metric == 0) && (params.Subset(1) == 'n')) || ... + ((params.Metric == inf) && (params.Subset(1) == 'f'))) + % nearest/farthest neighbour in n>1 dimensions, but for an + % infinity norm metric. Reduce this to a sequence of + % 1-d problems, each of which will be faster in general. + % do this only if the problem is moderately large, since + % we must overcome the extra overhead of the recursive + % calls to ipdm. + + % do the first dimension + if dataflag == 1 + d = ipdm(data1(:,1),data1(:,1),'subset',params.Subset,'metric',params.Metric,'result','struct'); + else + d = ipdm(data1(:,1),data2(:,1),'subset',params.Subset,'metric',params.Metric,'result','struct'); + end + + % its slightly different for nearest versus farthest here + % now, loop over dimensions + for i = 2:dim + if dataflag == 1 + di = ipdm(data1(:,i),data1(:,i),'subset',params.Subset,'metric',params.Metric,'result','struct'); + else + di = ipdm(data1(:,i),data2(:,i),'subset',params.Subset,'metric',params.Metric,'result','struct'); + end + + % did any of the distances change? + if params.Metric == 0 + % the 0 norm, with nearest neighbour, so take the + % smallest distance in any dimension. + k = d.distance > di.distance; + else + % inf norm. so take the largest distance across dimensions + k = d.distance < di.distance; + end + + if any(k) + d.distance(k) = di.distance(k); + d.columnindex(k) = di.columnindex(k); + end + end + + % create the matrix as a sparse one or a struct? + if params.Result(1)=='a' + % its an array, so make the array sparse. + d = sparse(d.rowindex,d.columnindex,d.distance,n1,n2); + end + + elseif ((ntotal*8) <= params.ChunkSize) + % None of the other special cases apply, so do it using brute + % force for the small potatoes problem. + + % One set or two? + if dataflag == 1 + dist = distcomp(data1,data1,params); + else + dist = distcomp(data1,data2,params); + end + + % if only one data set and if a nearest neighbor + % problem, set the diagonal to +inf so we don't find it. + if (dataflag==1) && (n1>1) && ('n'==params.Subset(1)) + diagind = (1:n1) + (0:n1:(n1^2-1)); + dist(diagind) = +inf; + end + + if ('n'==params.Subset(1)) + % nearest + [val,j] = min(dist,[],2); + else + % farthest + [val,j] = max(dist,[],2); + end + + % create the matrix as a sparse one or a struct? + if params.Result(1)=='a' + % its an array, so make the array sparse. + d = sparse((1:n1)',j,val,n1,size(dist,2)); + else + % a structure + d.rowindex = (1:n1)'; + d.columnindex = j; + d.distance = val; + end + + else + + % break it into chunks + bs = floor(params.ChunkSize/(8*n2)); + bs = min(n1,max(1,bs)); + + % pre-allocate the result + d.rowindex = (1:n1)'; + d.columnindex = zeros(n1,1); + d.distance = zeros(n1,1); + + % now loop over the chunks + batch = 1:bs; + while ~isempty(batch) + + % One set or two? + if dataflag == 1 + dist = distcomp(data1(batch,:),data1,params); + else + dist = distcomp(data1(batch,:),data2,params); + end + + % if only one data set and if a nearest neighbor + % problem, set the diagonal to +inf so we don't find it. + if (dataflag==1) && (n1>1) && ('n'==params.Subset(1)) + diagind = 1:length(batch); + diagind = diagind + (diagind-2+batch(1))*length(batch); + dist(diagind) = +inf; + end + + % big or small as requested + if ('n'==params.Subset(1)) + % nearest + [val,j] = min(dist,[],2); + else + % farthest + [val,j] = max(dist,[],2); + end + + % and stuff them into the result structure + d.columnindex(batch) = j; + d.distance(batch) = val; + + % increment the batch + batch = batch + bs; + if batch(end)>n1 + batch(batch>n1) = []; + end + + end + + % did we need to return a struct or an array? + if params.Result(1) == 'a' + % an array. make it a sparse one + d = sparse(d.rowindex,d.columnindex,d.distance,n1,n2); + end + + end % if dim == 1 + +end % switch params.Subset + +% End of mainline + +% ====================================================== +% begin subfunctions +% ====================================================== +function d = distcomp(set1,set2,params) +% Subfunction to compute all distances between two sets of points +dim = size(set1,2); +% can we take advantage of bsxfun? +% Note: in theory, there is no need to loop over the dimensions. We +% could Just let bsxfun do ALL the work, then wrap a sum around the +% outside. In practice, this tends to create large intermediate +% arrays, especially in higher numbers of dimensions. Its also when +% we might gain here by use of a vectorized code. This will only be +% a serious gain when the number of points is relatively small and +% the dimension is large. +if params.usebsxfun + % its a recent enough version of matlab that we can + % use bsxfun at all. + n1 = size(set1,1); + n2 = size(set2,1); + if (dim>1) && ((n1*n2*dim)<=params.ChunkSize) + % its a small enough problem that we might gain by full + % use of bsxfun + switch params.Metric + case 2 + d = sum(bsxfun(@minus,reshape(set1,[n1,1,dim]),reshape(set2,[1,n2,dim])).^2,3); + case 1 + d = sum(abs(bsxfun(@minus,reshape(set1,[n1,1,dim]),reshape(set2,[1,n2,dim]))),3); + case inf + d = max(abs(bsxfun(@minus,reshape(set1,[n1,1,dim]),reshape(set2,[1,n2,dim]))),[],3); + case 0 + d = min(abs(bsxfun(@minus,reshape(set1,[n1,1,dim]),reshape(set2,[1,n2,dim]))),[],3); + end + else + % too big, so that the ChunkSize will have been exceeded, or just 1-d + if params.Metric == 2 + d = bsxfun(@minus,set1(:,1),set2(:,1)').^2; + else + d = abs(bsxfun(@minus,set1(:,1),set2(:,1)')); + end + for i=2:dim + switch params.Metric + case 2 + d = d + bsxfun(@minus,set1(:,i),set2(:,i)').^2; + case 1 + d = d + abs(bsxfun(@minus,set1(:,i),set2(:,i)')); + case inf + d = max(d,abs(bsxfun(@minus,set1(:,i),set2(:,i)'))); + case 0 + d = min(d,abs(bsxfun(@minus,set1(:,i),set2(:,i)'))); + end + end + end +else + % Cannot use bsxfun. Sigh. Do things the hard (and slower) way. + n1 = size(set1,1); + n2 = size(set2,1); + if params.Metric == 2 + % Note: While some people might use a different Euclidean + % norm computation based on expanding the square of the + % difference of two numbers, that computation is inherantly + % inaccurate when implemented in floating point arithmetic. + % While it might be faster, I won't use it here. Sorry. + d = (repmat(set1(:,1),1,n2) - repmat(set2(:,1)',n1,1)).^2; + else + d = abs(repmat(set1(:,1),1,n2) - repmat(set2(:,1)',n1,1)); + end + for i=2:dim + switch params.Metric + case 2 + d = d + (repmat(set1(:,i),1,n2) - repmat(set2(:,i)',n1,1)).^2; + case 1 + d = d + abs(repmat(set1(:,i),1,n2) - repmat(set2(:,i)',n1,1)); + case inf + d = max(d,abs(repmat(set1(:,i),1,n2) - repmat(set2(:,i)',n1,1))); + case 0 + d = min(d,abs(repmat(set1(:,i),1,n2) - repmat(set2(:,i)',n1,1))); + end + end +end +% if 2 norm, then we must sqrt at the end +if params.Metric==2 + d = sqrt(d); +end + +% ============================================================== +% end main ipdm +% begin included function - parse_pv_pairs +% ============================================================== +function params=parse_pv_pairs(params,pv_pairs) +% parse_pv_pairs: parses sets of property value pairs, allows defaults +% usage: params=parse_pv_pairs(default_params,pv_pairs) +% +% arguments: (input) +% default_params - structure, with one field for every potential +% property/value pair. Each field will contain the default +% value for that property. If no default is supplied for a +% given property, then that field must be empty. +% +% pv_array - cell array of property/value pairs. +% Case is ignored when comparing properties to the list +% of field names. Also, any unambiguous shortening of a +% field/property name is allowed. +% +% arguments: (output) +% params - parameter struct that reflects any updated property/value +% pairs in the pv_array. +% +% Example usage: +% First, set default values for the parameters. Assume we +% have four parameters that we wish to use optionally in +% the function examplefun. +% +% - 'viscosity', which will have a default value of 1 +% - 'volume', which will default to 1 +% - 'pie' - which will have default value 3.141592653589793 +% - 'description' - a text field, left empty by default +% +% The first argument to examplefun is one which will always be +% supplied. +% +% function examplefun(dummyarg1,varargin) +% params.Viscosity = 1; +% params.Volume = 1; +% params.Pie = 3.141592653589793 +% +% params.Description = ''; +% params=parse_pv_pairs(params,varargin); +% params +% +% Use examplefun, overriding the defaults for 'pie', 'viscosity' +% and 'description'. The 'volume' parameter is left at its default. +% +% examplefun(rand(10),'vis',10,'pie',3,'Description','Hello world') +% +% params = +% Viscosity: 10 +% Volume: 1 +% Pie: 3 +% Description: 'Hello world' +% +% Note that capitalization was ignored, and the property 'viscosity' +% was truncated as supplied. Also note that the order the pairs were +% supplied was arbitrary. + +npv = length(pv_pairs); +n = npv/2; + +if n~=floor(n) + error 'Property/value pairs must come in PAIRS.' +end +if n<=0 + % just return the defaults + return +end + +if ~isstruct(params) + error 'No structure for defaults was supplied' +end + +% there was at least one pv pair. process any supplied +propnames = fieldnames(params); +lpropnames = lower(propnames); +for i=1:n + p_i = lower(pv_pairs{2*i-1}); + v_i = pv_pairs{2*i}; + + ind = strmatch(p_i,lpropnames,'exact'); + if isempty(ind) + ind = find(strncmp(p_i,lpropnames,length(p_i))); + if isempty(ind) + error(['No matching property found for: ',pv_pairs{2*i-1}]) + elseif length(ind)>1 + error(['Ambiguous property name: ',pv_pairs{2*i-1}]) + end + end + p_i = propnames{ind}; + + % override the corresponding default in params. + % Use setfield for comptability issues with older releases. + params = setfield(params,p_i,v_i); %#ok + +end + + + + diff --git a/Additional_tests/Tether/Catenary_3D/distance2curve_license.txt b/Additional_tests/Tether/Catenary_3D/distance2curve_license.txt new file mode 100644 index 0000000..f80dee9 --- /dev/null +++ b/Additional_tests/Tether/Catenary_3D/distance2curve_license.txt @@ -0,0 +1,24 @@ +Copyright (c) 2012, John D'Errico +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are +met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in + the documentation and/or other materials provided with the distribution + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/Additional_tests/Tether/Catenary_3D/initAllSimParams_catenary.m b/Additional_tests/Tether/Catenary_3D/initAllSimParams_catenary.m new file mode 100644 index 0000000..9748f14 --- /dev/null +++ b/Additional_tests/Tether/Catenary_3D/initAllSimParams_catenary.m @@ -0,0 +1,74 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function [simInit, T] = initAllSimParams_catenary(ENVMT, simInit, T) +%initAllSimParams_catenary - Update parameters to fit test case +% +% Inputs: +% ENVMT - Environmental parameters +% simInit - Simulation initialisation parameters +% T - Tether dimensions and material properties +% +% Outputs: +% simInit - Simulation initialisation parameters [Updated time&position] +% T - Tether dimensions and material properties [Updated positions] +% +% Other m-files required: transformFromWtoO.m +% solve_cat.m +% Subfunctions: none +% MAT-files required: none +% +% Example: [simInit, T] = initAllSimParams_catenary(ENVMT, simInit, T) +% +% Author: Dylan Eijkelhof, M.Sc. +% Delft University of Technology +% email address: d.eijkelhof@tudelft.nl +% March 2021; Last revision: 17-March-2021 + +%------------- BEGIN CODE -------------- + +%% Initialization parameters +simInit.TSIM = 1; % Simulation Time +simInit.dt= 0.005; % Step size + +simInit.pos_W_init = [100;100;300]; +simInit.pos_O_init = transformFromWtoO(ENVMT.windDirection_rad, simInit.pos_W_init)'; %[-200,0,-250]; +simInit.vel_B_init= [0;0;0]; +simInit.long_init = atan2( simInit.pos_W_init(2), simInit.pos_W_init(1) ); +simInit.lat_init = asin( simInit.pos_W_init(3)/norm(simInit.pos_W_init) ); + +%% Update tether parameters +l_j = norm(simInit.pos_W_init); +phi_init = atan2(simInit.pos_W_init(2),sqrt(l_j^2-simInit.pos_W_init(2)^2)); +if abs(phi_init)<1e-5 + phi_init=0; +end +theta_init = atan2(simInit.pos_W_init(1),simInit.pos_W_init(3)); + +T.Tn_vect = [theta_init; phi_init; 0.002*T.E*T.A]; %theta,phi,force magnitude + +T.tether_inital_lenght = norm( simInit.pos_O_init)+100; +T.stoplength = T.tether_inital_lenght+50; +T.l0 = T.tether_inital_lenght/(T.np+1); +T.pos_p_init = []; +e_t = simInit.pos_W_init/norm(simInit.pos_W_init); +for p = 1 : T.np + T.pos_p_init = [T.pos_p_init, p*e_t*T.l0]; +end +T.pos_p_init = fliplr(T.pos_p_init); + +%% Catenary curve +[simInit.x_catenary,simInit.y_catenary,simInit.z_catenary] = solve_cat([0;0;0],simInit.pos_W_init,T.tether_inital_lenght); +%------------- END CODE -------------- +end \ No newline at end of file diff --git a/Additional_tests/Tether/Catenary_3D/solve_cat.m b/Additional_tests/Tether/Catenary_3D/solve_cat.m new file mode 100644 index 0000000..911e95d --- /dev/null +++ b/Additional_tests/Tether/Catenary_3D/solve_cat.m @@ -0,0 +1,22 @@ +function [x_catenary,y_catenary,z_catenary] = solve_cat(P1,P2,length) +%UNTITLED2 Summary of this function goes here +% Detailed explanation goes here + hvec = P2(1:2)-P1(1:2); + angle1 = atan2(hvec(1),hvec(2)); + h = norm(hvec); + v = P2(3)-P1(3); + syms a + + eq1 = sqrt(length^2 - v^2) == 2*sinh(a*h/2)/a; + a_new = double(vpasolve(eq1, a, [1e-10 Inf])); + + X = linspace(norm(P1(1:2)),h,100); + XY = [sin(angle1); cos(angle1)].*X; + x_left = 1/2*(log((length+v)/(length-v))/a_new-h); + x_min = norm(P1(1:2)) - x_left; + bias = P1(3) - cosh(x_left*a_new)/a_new; + + z_catenary = cosh((X-x_min)*a_new)/a_new + bias; + x_catenary = XY(1,:); + y_catenary = XY(2,:); +end \ No newline at end of file diff --git a/Additional_tests/Tether/Catenary_3D/tether_catenary_R2019B.slx b/Additional_tests/Tether/Catenary_3D/tether_catenary_R2019B.slx new file mode 100644 index 0000000..39a114c Binary files /dev/null and b/Additional_tests/Tether/Catenary_3D/tether_catenary_R2019B.slx differ diff --git a/Additional_tests/Tether/WindDrag_Catenary/Run_drag_curve.m b/Additional_tests/Tether/WindDrag_Catenary/Run_drag_curve.m new file mode 100644 index 0000000..99de426 --- /dev/null +++ b/Additional_tests/Tether/WindDrag_Catenary/Run_drag_curve.m @@ -0,0 +1,79 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function status = Run_drag_curve() +%Run_drag_curve - Comparison to a rotated hanging cable, catenary curve +% (Drag only) +% +% Inputs: +% None +% +% Outputs: +% status - Passed (1) or failed (0) +% +% Other m-files required: initAllSimParams_DE2019.m +% initAllSimParams_WindCatenary.m +% distance2curve.m (Catenary_3D folder) +% Subfunctions: none +% MAT-files required: none +% +% Syntax: status = Run_drag_curve() +% +% Author: Dylan Eijkelhof, M.Sc. +% Delft University of Technology +% email address: d.eijkelhof@tudelft.nl +% March 2021; Last revision: 17-March-2021 + +%------------- BEGIN CODE -------------- +%% Set Variables +[act, base_windspeed, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = initAllSimParams_DE2019(6); + +[ENVMT,simInit, T] = initAllSimParams_WindCatenary(ENVMT, simInit, T); %#ok<*ASGLU> + +%% Run Test Case +simOut = sim('tether_WindCatenary_R2019B.slx', 'SrcWorkspace', 'current'); + +%Plot result +% plot3( [0;flipud(Tether_x.Data(:,end));simInit.pos_W_init(1)], [0;flipud(Tether_y.Data(:,end));simInit.pos_W_init(2)],[0;flipud(Tether_z.Data(:,end));simInit.pos_W_init(3)] , '-', 'color', [0.1 0.1 0.1], 'Markersize',2, 'Linewidth', 1.2, 'MarkerFaceColor', [0.3 0.3 0.3]); hold on; +% plot3(simInit.x_catenary, simInit.y_catenary, simInit.z_catenary,'-') + +%% Test Criteria +xy = zeros(1,numel(simOut.Tether_x.Data(:,end))); +for i = 1:numel(simOut.Tether_x.Data(:,end)) + xy(1,i) = norm([simOut.Tether_x.Data(i,end),simOut.Tether_y.Data(i,end)]); +end + +y_catenary = zeros(numel(simInit.x_catenary),1); +for i = 1:numel(simInit.x_catenary) + y_catenary(i,1) = norm([simInit.x_catenary(i),simInit.y_catenary(i)]); +end + +[~,distance,~] = distance2curve([y_catenary simInit.z_catenary'],[xy' simOut.Tether_z.Data(:,end)]); + +average_error = sum(distance)/numel(distance); + +if average_error <= T.tether_inital_lenght*0.01 %1% of tether length + disp(' ') + disp('Success') + disp('---------- Tether seems to follow the analytical catenary curve -------------') + disp('---------- Plot to see the result -------------') + status = 1; +else + disp(' ') + disp('Failed') + status = 0; +end +%------------- END CODE -------------- +end \ No newline at end of file diff --git a/Additional_tests/Tether/WindDrag_Catenary/initAllSimParams_WindCatenary.m b/Additional_tests/Tether/WindDrag_Catenary/initAllSimParams_WindCatenary.m new file mode 100644 index 0000000..29c874f --- /dev/null +++ b/Additional_tests/Tether/WindDrag_Catenary/initAllSimParams_WindCatenary.m @@ -0,0 +1,68 @@ +function [ENVMT, simInit, T] = initAllSimParams_WindCatenary(ENVMT, simInit, T) +%initAllSimParams_WindCatenary - Update parameters to fit test case +% +% Inputs: +% ENVMT - Environmental parameters +% simInit - Simulation initialisation parameters +% T - Tether dimensions and material properties +% +% Outputs: +% simInit - Simulation initialisation parameters [Updated time&position] +% T - Tether dimensions and material properties [Updated positions] +% ENVMT - Environmental parameters [Updated gravitational constant] +% +% Other m-files required: transformFromWtoO.m +% solve_cat.m (Catenary_3D folder) +% Subfunctions: none +% MAT-files required: none +% +% Example: [ENVMT, simInit, T] = initAllSimParams_WindCatenary(ENVMT, simInit, T) +% +% Author: Dylan Eijkelhof, M.Sc. +% Delft University of Technology +% email address: d.eijkelhof@tudelft.nl +% March 2021; Last revision: 17-March-2021 + +%------------- BEGIN CODE -------------- + +%% Initialization parameters +simInit.TSIM = 10; % Simulation Time +simInit.dt= 0.005; % Step size + +simInit.pos_W_init = [0;0;300]; +simInit.pos_O_init = transformFromWtoO(ENVMT.windDirection_rad, simInit.pos_W_init)'; %[-200,0,-250]; +simInit.vel_B_init= [0;0;0]; +simInit.long_init = atan2( simInit.pos_W_init(2), simInit.pos_W_init(1) ); +simInit.lat_init = asin( simInit.pos_W_init(3)/norm(simInit.pos_W_init) ); + +%% Update tether parameters +l_j = norm(simInit.pos_W_init); +phi_init = atan2(simInit.pos_W_init(2),sqrt(l_j^2-simInit.pos_W_init(2)^2)); +if abs(phi_init)<1e-5 + phi_init=0; +end +theta_init = atan2(simInit.pos_W_init(1),simInit.pos_W_init(3)); + +T.Tn_vect = [theta_init; phi_init; 0.002*T.E*T.A]; %theta,phi,force magnitude + +T.tether_inital_lenght = norm( simInit.pos_O_init); +T.stoplength = T.tether_inital_lenght+50; +T.l0 = T.tether_inital_lenght/(T.np+1); +T.pos_p_init = []; +e_t = simInit.pos_W_init/norm(simInit.pos_W_init); +for p = 1 : T.np + T.pos_p_init = [T.pos_p_init, p*e_t*T.l0]; +end +T.pos_p_init = fliplr(T.pos_p_init); + +%% Catenary + +[x_catenary,y_catenary,z_catenary] = solve_cat([0;0;0],[simInit.pos_W_init(3);0;0],T.stoplength); + +simInit.x_catenary = -z_catenary; +simInit.y_catenary = 0.*y_catenary; +simInit.z_catenary = x_catenary; + +%% Gravity off +ENVMT.g = 1e-10; %Turn gravity off +end \ No newline at end of file diff --git a/Additional_tests/Tether/WindDrag_Catenary/tether_WindCatenary_R2019B.slx b/Additional_tests/Tether/WindDrag_Catenary/tether_WindCatenary_R2019B.slx new file mode 100644 index 0000000..de11a31 Binary files /dev/null and b/Additional_tests/Tether/WindDrag_Catenary/tether_WindCatenary_R2019B.slx differ diff --git a/Additional_tests/Tether/tether_fall2/Run_tether_fall2.m b/Additional_tests/Tether/tether_fall2/Run_tether_fall2.m new file mode 100644 index 0000000..5f643ed --- /dev/null +++ b/Additional_tests/Tether/tether_fall2/Run_tether_fall2.m @@ -0,0 +1,66 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function status = Run_tether_fall2() +%Run_tether_fall2 - Tether test case: Test whether tether falls at +% gravitational constant (gravity only) +% +% Inputs: +% None +% +% Outputs: +% status - Passed (1) or failed (0) +% +% Other m-files required: initAllSimParams_DE2019.m +% initAllSimParams_tether_fall2.m +% Subfunctions: none +% MAT-files required: none +% +% Syntax: status = Run_tether_fall2() +% +% Author: Dylan Eijkelhof, M.Sc. +% Delft University of Technology +% email address: d.eijkelhof@tudelft.nl +% March 2021; Last revision: 17-March-2021 + +%------------- BEGIN CODE -------------- + +%% Set Variables +[act, base_windspeed, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = initAllSimParams_DE2019(6); + +[simInit, T] = initAllSimParams_tether_fall2(ENVMT, simInit, T); %#ok<*ASGLU> + +%% Run test and print result + +simOut = sim('tether_fall2_R2019B.slx', 'SrcWorkspace', 'current'); + +if simOut.acc_kite.Data(end) <= -ENVMT.g*0.99 && simOut.acc_kite.Data(end) >= -ENVMT.g*1.01 + disp(' ') + disp('Success') + disp('---------- Kite falls within 1% of gravitational accelleration -------------') + status = 1; +else + disp(' ') + disp('Failed') + status = 0; +end + +if simOut.acc_kite.Time(end) >= simInit.TSIM + disp(' ') + disp('!!! Simulation time exceeded, consider re-running with larger simInit.TSIM !!!') + status = 0; +end +%------------- END CODE -------------- +end \ No newline at end of file diff --git a/Additional_tests/Tether/tether_fall2/initAllSimParams_tether_fall2.m b/Additional_tests/Tether/tether_fall2/initAllSimParams_tether_fall2.m new file mode 100644 index 0000000..c22d0f4 --- /dev/null +++ b/Additional_tests/Tether/tether_fall2/initAllSimParams_tether_fall2.m @@ -0,0 +1,71 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function [simInit,T] = initAllSimParams_tether_fall2(ENVMT, simInit,T) +%initAllSimParams_tether_fall2 - Update parameters to fit test case +% +% Inputs: +% ENVMT - Environmental parameters +% simInit - Simulation initialisation parameters +% T - Tether dimensions and material properties +% +% Outputs: +% simInit - Simulation initialisation parameters [Updated time&position] +% T - Tether dimensions and material properties [Updated positions] +% +% Other m-files required: transformFromWtoO.m +% Subfunctions: none +% MAT-files required: none +% +% Example: [simInit, T] = initAllSimParams_tether_fall2(ENVMT, simInit, T) +% +% Author: Dylan Eijkelhof, M.Sc. +% Delft University of Technology +% email address: d.eijkelhof@tudelft.nl +% March 2021; Last revision: 17-March-2021 + +%------------- BEGIN CODE -------------- +%% Initialization parameters +simInit.Pulling_Force = 0; + +simInit.TSIM = 100; % Simulation Time +simInit.dt= 0.005; % Step size + +simInit.pos_W_init = [0;0;300]; +simInit.pos_O_init = transformFromWtoO(ENVMT.windDirection_rad, simInit.pos_W_init)'; %[-200,0,-250]; +simInit.vel_B_init= [0;0;0]; +simInit.long_init = atan2( simInit.pos_W_init(2), simInit.pos_W_init(1) ); +simInit.lat_init = asin( simInit.pos_W_init(3)/norm(simInit.pos_W_init) ); + +%% Update tether parameters +l_j = norm(simInit.pos_W_init); +phi_init = atan2(simInit.pos_W_init(2),sqrt(l_j^2-simInit.pos_W_init(2)^2)); +if abs(phi_init)<1e-5 + phi_init=0; +end +theta_init = atan2(simInit.pos_W_init(1),simInit.pos_W_init(3)); + +T.Tn_vect = [theta_init; phi_init; 0.002*T.E*T.A]; %theta,phi,force magnitude + +T.tether_inital_lenght = norm( simInit.pos_O_init); +T.stoplength = T.tether_inital_lenght+50; +T.l0 = T.tether_inital_lenght/(T.np+1); +T.pos_p_init = []; +e_t = simInit.pos_W_init/norm(simInit.pos_W_init); +for p = 1 : T.np + T.pos_p_init = [T.pos_p_init, p*e_t*T.l0]; +end +T.pos_p_init = fliplr(T.pos_p_init); +%------------- END CODE -------------- +end \ No newline at end of file diff --git a/Additional_tests/Tether/tether_fall2/tether_fall2_R2019B.slx b/Additional_tests/Tether/tether_fall2/tether_fall2_R2019B.slx new file mode 100644 index 0000000..b0e3e56 Binary files /dev/null and b/Additional_tests/Tether/tether_fall2/tether_fall2_R2019B.slx differ diff --git a/Additional_tests/Tether/tether_pull/Run_tether_pull.m b/Additional_tests/Tether/tether_pull/Run_tether_pull.m new file mode 100644 index 0000000..6e1e3f9 --- /dev/null +++ b/Additional_tests/Tether/tether_pull/Run_tether_pull.m @@ -0,0 +1,71 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function status = Run_tether_pull() +%Run_tether_pull - Tether test case: Pulling tether up with prescribed +% force, comparing to analytical tether length at force +% balance (gravity only) +% +% Inputs: +% None +% +% Outputs: +% status - Passed (1) or failed (0) +% +% Other m-files required: initAllSimParams_DE2019.m +% initAllSimParams_tether_pull.m +% Subfunctions: none +% MAT-files required: none +% +% Syntax: status = Run_tether_pull() +% +% Author: Dylan Eijkelhof, M.Sc. +% Delft University of Technology +% email address: d.eijkelhof@tudelft.nl +% March 2021; Last revision: 17-March-2021 + +%------------- BEGIN CODE -------------- +%% Set Variables +[act, base_windspeed, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = initAllSimParams_DE2019(6); + +[simInit,T] = initAllSimParams_tether_pull(ENVMT, simInit, DE2019,T); %#ok<*ASGLU> + +%% Run test and print result + +simOut = sim('tether_pull_R2019B.slx', 'SrcWorkspace', 'current'); + +sol_analytical = (simInit.Pulling_Force-(DE2019.mass*ENVMT.g))/ENVMT.g/T.rho_t; + +idxs = find(simOut.zero_crossings.Data == 1); +ave = sum(simOut.tether_length.Data(idxs(3):idxs(5)-1))/numel(simOut.tether_length.Data(idxs(3):idxs(5)-1)); + +if abs((ave-sol_analytical)/sol_analytical*100)<1 + disp(' ') + disp('Success') + disp('---------- The tether oscillates around the equilibrium point within 1% difference -------------') + status = 1; +else + disp(' ') + disp('Failed') + status = 0; +end + +if simOut.tether_length.Time(end) >= simInit.TSIM + disp(' ') + disp('!!! Simulation time exceeded, consider re-running with larger simInit.TSIM !!!') + status = 0; +end +%------------- END CODE -------------- +end \ No newline at end of file diff --git a/Additional_tests/Tether/tether_pull/initAllSimParams_tether_pull.m b/Additional_tests/Tether/tether_pull/initAllSimParams_tether_pull.m new file mode 100644 index 0000000..8dfab0e --- /dev/null +++ b/Additional_tests/Tether/tether_pull/initAllSimParams_tether_pull.m @@ -0,0 +1,71 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function [simInit,T] = initAllSimParams_tether_pull(ENVMT, simInit, DE2019,T) +%initAllSimParams_tether_pull - Update parameters to fit test case +% +% Inputs: +% ENVMT - Environmental parameters +% simInit - Simulation initialisation parameters +% T - Tether dimensions and material properties +% +% Outputs: +% simInit - Simulation initialisation parameters [Updated time&position] +% T - Tether dimensions and material properties [Updated positions] +% +% Other m-files required: transformFromWtoO.m +% Subfunctions: none +% MAT-files required: none +% +% Example: [simInit, T] = initAllSimParams_tether_pull(ENVMT, simInit, T) +% +% Author: Dylan Eijkelhof, M.Sc. +% Delft University of Technology +% email address: d.eijkelhof@tudelft.nl +% March 2021; Last revision: 17-March-2021 + +%------------- BEGIN CODE -------------- +%% Initialization parameters +simInit.Pulling_Force = DE2019.mass*ENVMT.g + 2e3; + +simInit.TSIM = 1000; % Simulation Time +simInit.dt= 0.005; % Step size + +simInit.pos_W_init = [0;0;300]; +simInit.pos_O_init = transformFromWtoO(ENVMT.windDirection_rad, simInit.pos_W_init)'; %[-200,0,-250]; +simInit.vel_B_init= [1e-10;1e-10;1e-10]; +simInit.long_init = atan2( simInit.pos_W_init(2), simInit.pos_W_init(1) ); +simInit.lat_init = asin( simInit.pos_W_init(3)/norm(simInit.pos_W_init) ); + +%% Update tether parameters +l_j = norm(simInit.pos_W_init); +phi_init = atan2(simInit.pos_W_init(2),sqrt(l_j^2-simInit.pos_W_init(2)^2)); +if abs(phi_init)<1e-5 + phi_init=0; +end +theta_init = atan2(simInit.pos_W_init(1),simInit.pos_W_init(3)); + +T.Tn_vect = [theta_init; phi_init; 0.002*T.E*T.A]; %theta,phi,force magnitude + +T.tether_inital_lenght = norm( simInit.pos_O_init); +T.stoplength = T.tether_inital_lenght+50; +T.l0 = T.tether_inital_lenght/(T.np+1); +T.pos_p_init = []; +e_t = simInit.pos_W_init/norm(simInit.pos_W_init); +for p = 1 : T.np + T.pos_p_init = [T.pos_p_init, p*e_t*T.l0]; +end +T.pos_p_init = fliplr(T.pos_p_init); +%------------- END CODE -------------- +end \ No newline at end of file diff --git a/Additional_tests/Tether/tether_pull/tether_pull_R2019B.slx b/Additional_tests/Tether/tether_pull/tether_pull_R2019B.slx new file mode 100644 index 0000000..847d4a5 Binary files /dev/null and b/Additional_tests/Tether/tether_pull/tether_pull_R2019B.slx differ diff --git a/Extra/MdlRef_To_Subsys_Conversion/Replace_MdlRef_SubSys.m b/Extra/MdlRef_To_Subsys_Conversion/Replace_MdlRef_SubSys.m new file mode 100644 index 0000000..45e7414 --- /dev/null +++ b/Extra/MdlRef_To_Subsys_Conversion/Replace_MdlRef_SubSys.m @@ -0,0 +1,156 @@ +function [ newModelNames , changeStatus ] = Replace_MdlRef_SubSys( varargin ) +%Replace_MdlRef_SubSys will replace all model reference blocks at all levels +% within the top level model with SubSystems having the same contents as +% the referenced model. +% Syntax: Replace_MdlRef_SubSys( modelName ) + +% Fixes: +% 1 October 2020: Filepath separation fixed, independent of operating system now (D. Eijkelhof) +% 21 October 2020: Referenced subsystems are replaced as well (D. Eijkelhof) + +% D. Eijkelhof +% Delft University of Technology +% email address: d.eijkelhof@tudelft.nl +%% Verify Input Argument: +topLevelModel = varargin{1}; + +if( nargin == 1 ) % First call to the function will contain only the top level model name + newModelNames = cell(0); % Initialize the list of new models created using this function +end + +if( nargin == 2 ) + newModelNames = varargin{2}; +end + +if( nargin > 2 ) + error( 'Invalid number of arguments' ); +end + +if( exist( topLevelModel , 'file' ) == 4 ) % Check whether the model exists on the MATLAB path + if( ~bdIsLoaded( topLevelModel ) ) + load_system( topLevelModel ); % If Model is not already loaded, load it + end +else + error( 'Model does not exist on MATLAB path' ); +end + + +%% Find Model Reference Blocks in the top level model: +topLevelModelHandle = get_param( topLevelModel , 'Handle' ); +mdlRefsHandles = find_system( topLevelModelHandle , 'findall' , 'on' , 'blocktype' , 'ModelReference' ); +mdlRefsHandles2 = find_system( topLevelModelHandle , 'findall' , 'on' ,... + 'RegExp','on', 'blocktype' ,'SubSystem','ReferencedSubsystem', '.'); +mdlRefsHandles = [mdlRefsHandles;mdlRefsHandles2]; + +if( ~isempty( mdlRefsHandles ) ) % If the model contains model references + %% Create new model: + % Create a new mdl file and make changes in it. Always leave the source intact. + newTopLevelModel = [ topLevelModel '_new' ]; + srcFilename = which( topLevelModel ); + [~,~,ext]=fileparts(srcFilename); + dstFilename = [ pwd filesep newTopLevelModel ext ]; + newModelNames = [ newModelNames ; newTopLevelModel ]; + + % Delete an existing file + if( exist( newTopLevelModel , 'file' ) == 4 ) + if( bdIsLoaded( newTopLevelModel ) ) + bdclose( newTopLevelModel ); % Close the old model if its open before attempting to delete it + end + delete( dstFilename ); + end + + copyfile( srcFilename , dstFilename ,'f' ); + + bdclose( topLevelModel ); % Close original model + topLevelModel = newTopLevelModel; + load_system( topLevelModel ); + + % The following two lines are necessary because we are using a new + % model now: + topLevelModelHandle = get_param( topLevelModel , 'Handle' ); + mdlRefsHandles = find_system( topLevelModelHandle , 'findall' , 'on' ,... + 'blocktype' , 'ModelReference' ); + mdlRefsHandles2 = find_system( topLevelModelHandle , 'findall' , 'on' ,... + 'RegExp','on', 'blocktype' ,'SubSystem','ReferencedSubsystem', '.'); + mdlRefsHandles = [mdlRefsHandles;mdlRefsHandles2]; + ref_block_path = getfullname(mdlRefsHandles); + %% Replace Model References with Sub-Systems: + + for k = 1 : length( mdlRefsHandles ) + if strcmp(get_param( mdlRefsHandles(k) , 'BlockType' ),'SubSystem') + mdlRefName = get_param( mdlRefsHandles(k) , 'ReferencedSubsystem' ); + else + mdlRefName = get_param( mdlRefsHandles(k) , 'ModelName' ); + end + + % Recursive searching of nested model references: + [ newModelNames , changeStatus ] = Replace_MdlRef_SubSys( mdlRefName , newModelNames ); + + % Use the new referenced model which has gone through the + % conversion: + if( changeStatus ) + mdlRefName = [ mdlRefName '_new' ]; %#ok + end + + % Create a blank subsystem, fill it with the modelref's contents: + blockPosition = get_param( mdlRefsHandles(k) , 'Position' ); + + % ssName = [ topLevelModel filesep mdlRefName '_SS_' num2str(k) ]; + ssName = [ ref_block_path{k} '_SS_' num2str(k) ]; + ssHandle = add_block( 'built-in/SubSystem' , ssName ); % Create empty SubSystem + + slcopy_mdl2subsys( mdlRefName , ssName ); % This function copies contents of the referenced model into the SubSystem + + delete_block( mdlRefsHandles(k) ); + + % Setting the SubSystems position to the same position as the + % referenced model automatically connects the corresponding in and + % out ports + if strcmp(mdlRefName,'Environment') + set_param( ssHandle ,'Orientation','left'); + end + set_param( ssHandle , 'Position' , blockPosition ); + + % Assigning Model Reference Callbacks to the new subsystem: +% Replace_Callbacks( mdlRefName , ssHandle ); + + end + + save_system( topLevelModel ); + changeStatus = true; % Model has been changed. + bdclose( topLevelModel ); +else + changeStatus = false; % Model did not have any model references, so there were no changes. +end + +end + + +function Replace_Callbacks( mdlRefName , ssHandle ) %#ok +%Replace_Callbacks Copies the callbacks of the referenced model to the +% callbacks of the Subsystem: + +preLoadFcn = get_param( mdlRefName , 'PreLoadFcn' ); +postLoadFcn = get_param( mdlRefName , 'PostLoadFcn' ); +loadFcn = sprintf( [ preLoadFcn '\n' postLoadFcn ] ); + +initFcn = get_param( mdlRefName , 'InitFcn' ); +startFcn = get_param( mdlRefName , 'StartFcn' ); +pauseFcn = get_param( mdlRefName , 'PauseFcn' ); +continueFcn = get_param( mdlRefName , 'ContinueFcn' ); +stopFcn = get_param( mdlRefName , 'StopFcn' ); +preSaveFcn = get_param( mdlRefName , 'PreSaveFcn' ); +postSaveFcn = get_param( mdlRefName , 'PostSaveFcn' ); +closeFcn = get_param( mdlRefName , 'CloseFcn' ); + + +set_param( ssHandle , 'LoadFcn' , loadFcn ); +set_param( ssHandle , 'InitFcn' , initFcn ); +set_param( ssHandle , 'StartFcn' , startFcn ); +set_param( ssHandle , 'PauseFcn' , pauseFcn ); +set_param( ssHandle , 'ContinueFcn' , continueFcn ); +set_param( ssHandle , 'StopFcn' , stopFcn ); +set_param( ssHandle , 'PreSaveFcn' , preSaveFcn ); +set_param( ssHandle , 'PostSaveFcn' , postSaveFcn ); +set_param( ssHandle , 'ModelCloseFcn' , closeFcn ); +end \ No newline at end of file diff --git a/Extra/MdlRef_To_Subsys_Conversion/slcopy_mdl2subsys.m b/Extra/MdlRef_To_Subsys_Conversion/slcopy_mdl2subsys.m new file mode 100644 index 0000000..27cbeb5 --- /dev/null +++ b/Extra/MdlRef_To_Subsys_Conversion/slcopy_mdl2subsys.m @@ -0,0 +1,66 @@ +function slcopy_mdl2subsys(model, subsysBlk) +% SLCOPY_MDL2SUBSYS Copy contents of a model to a Subsystem + +% SLCOPY_MDL2SUBSYS(model, subsysBlk) deletes the Subsystem block +% contents, and copies the input model contents to the Subsystem block. +% +% Inputs: +% model: Model name or handle +% subsysBlk: Subsystem block full path name or handle +% +% Note: The Subsystem block cannot be part of the input model. +% + + if nargin ~= 2 + error('usage: slcopy_mdl2subsys(model, subsysBlk)'); + end + + try + + % Check the first input argument + isOk = (ischar(model) || ishandle(model)); + if ~isOk + error('slcopy_mdl2subsys: the first input must be a model name'); + end + + % Check the second input argument + if ~strcmpi(get_param(subsysBlk,'type'), 'block') || ... + ~strcmpi(get_param(subsysBlk,'blocktype'), 'Subsystem') + error('slcopy_mdl2subsys: the second input must be a Subsystem block'); + end + + % load the model if it is not loaded + load_system(model); + + modelName = get_param(model, 'name'); + + % Get the Subsystem root, and make sure the Subsystem is not + % inside the input model + subsysRoot = get_subsystem_root_l(subsysBlk); + if strcmpi(subsysRoot, modelName) + error(['slcopy_mdl2subsys: invalid inputs. The Subsystem block ', ... + 'cannot be part of the input model']); + end + + obj = get_param(subsysBlk,'object'); + %obj.deleteContent; + Simulink.SubSystem.deleteContents(subsysBlk) + obj.copyContent(modelName); + catch + rethrow(lasterror); + end + +%endfunction + + +function subsysRoot = get_subsystem_root_l(subsys) + p1 = get_param(subsys,'parent'); + p2 = get_param(p1,'parent'); + + while ~isempty(p2) + p1 = p2; + p2 = get_param(p1,'parent'); + end + subsysRoot = p1; + +%endfunction \ No newline at end of file diff --git a/Extra/Pointmass_eom_v1_0_R2018B.slx b/Extra/Pointmass_eom_v1_0_R2018B.slx deleted file mode 100644 index fb14728..0000000 Binary files a/Extra/Pointmass_eom_v1_0_R2018B.slx and /dev/null differ diff --git a/Extra/Video_from_simOut.m b/Extra/Video_from_simOut.m new file mode 100644 index 0000000..635682e --- /dev/null +++ b/Extra/Video_from_simOut.m @@ -0,0 +1,68 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function Video_from_simOut(filename, simOut,simInit,ENVMT,DE2019) +%Create an animation object or video from sim output +% +% :param filename: Name of the video file, including extension +% If [] is provided, no video file is created +% :param simOut: Simulink simulation output +% :param simInit: Simulation initialisation parameters +% :param ENVMT: Environmental parameters +% :param DE2019: Aircraft parameters +% +% :returns: +% - **noVar** - Video file +% +% Example: +% | Video_from_simOut('test.mp4', simOut,simInit,ENVMT,DE2019) +% | +% | Video_from_simOut([], simOut,simInit,ENVMT,DE2019) +% +% | Other m-files required: animate_flightpath.m, extractSignalOfLastCycle2.m, extractSignalOfLastCycle3D.m, extractSignalOfLastCycle_nD.m +% | Subfunctions: None +% | MAT-files required: None +% +% :Revision: 16-March-2021 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + +%------------- BEGIN CODE -------------- + + % Gather variables from simulation output + P_mech_last_cycle = extractSignalOfLastCycle2(simOut.P_mech, ... + simOut.cycle_signal_counter, simInit); %#ok<*UNRCH> + Path_last_cycle = extractSignalOfLastCycle3D(simOut.pos_O, ... + simOut.cycle_signal_counter, simInit ); + EulAng_last_cycle = extractSignalOfLastCycle_nD(simOut.Eul_ang, ... + simOut.cycle_signal_counter, simInit ); + Tether_last_cycle_x = extractSignalOfLastCycle_nD(simOut.Tether_x, ... + simOut.cycle_signal_counter, simInit ); + Tether_last_cycle_y = extractSignalOfLastCycle_nD(simOut.Tether_y, ... + simOut.cycle_signal_counter, simInit ); + Tether_last_cycle_z = extractSignalOfLastCycle_nD(simOut.Tether_z, ... + simOut.cycle_signal_counter, simInit ); + + duration = 15; %seconds + fps = 30; %frames per second + + filename = animate_flightpath(filename,P_mech_last_cycle,... + Path_last_cycle,EulAng_last_cycle,Tether_last_cycle_x,... + Tether_last_cycle_y,Tether_last_cycle_z,ENVMT,DE2019.b,duration,fps); + if ~isempty(filename) + movefile(filename,['Extra' filesep filename]) + end + +%------------- END CODE -------------- +end + diff --git a/Extra/animate_flightpath_torque.m b/Extra/animate_flightpath.m similarity index 74% rename from Extra/animate_flightpath_torque.m rename to Extra/animate_flightpath.m index 255f63e..5feb826 100644 --- a/Extra/animate_flightpath_torque.m +++ b/Extra/animate_flightpath.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -12,54 +12,52 @@ % See the License for the specific language governing permissions and % limitations under the License. -function FileName = animate_flightpath_torque(FileName, P_mech_last_cycle,... +function FileName = animate_flightpath(FileName, P_mech_last_cycle,... Path_last_cycle, EulAng_last_cycle, Tether_last_cycle_x,... - Tether_last_cycle_y, Tether_last_cycle_z, ENVMT, Tend,fps) -%animate_flightpath_torque - Create flight path animation + Tether_last_cycle_y, Tether_last_cycle_z, ENVMT,Wingspan, Tend,fps) +%Create flight path animation % -% Inputs: -% FileName - Name of the video file, including extension -% If [] is provided, no video file is created -% P_mech_last_cycle - Instantaneous power -% Path_last_cycle - Aircraft position -% EulAng_last_cycle - Aircraft orientation angles -% Tether_last_cycle_x - Tether particle x positions -% Tether_last_cycle_y - Tether particle y positions -% Tether_last_cycle_z - Tether particle z positions -% ENVMT - Environment data for wind direction -% Tend - Video length -% fps - Video frames per second +% :param FileName: Name of the video file, including extension, +% If [] is provided, no video file is created. +% :param P_mech_last_cycle: Instantaneous power. +% :param Path_last_cycle: Aircraft position. +% :param EulAng_last_cycle: Aircraft orientation angles. +% :param Tether_last_cycle_x: Tether particle x positions. +% :param Tether_last_cycle_y: Tether particle y positions. +% :param Tether_last_cycle_z: Tether particle z positions. +% :param ENVMT: Environment data for wind direction. +% :param Wingspan: Kite wing span. +% :param Tend: Video length. +% :param fps: Video frames per second. % -% Outputs: -% noVar - Video file -% FileName - The video file name (if created) else empty array +% :returns: +% - **noVar** - Video file +% - **FileName** - The video file name (if created) else empty array % % Example: -% animate_flightpath_torque('test.mp4',P_mech_last_cycle,... -% Path_last_cycle,EulAng_last_cycle,Tether_last_cycle_x,... -% Tether_last_cycle_y,Tether_last_cycle_z,ENVMT,45,30); +% | animate_flightpath_torque('test.mp4',P_mech_last_cycle,... +% | Path_last_cycle,EulAng_last_cycle,Tether_last_cycle_x,... +% | Tether_last_cycle_y,Tether_last_cycle_z,ENVMT,45,30); +% | +% | animate_flightpath_torque([],P_mech_last_cycle,... +% | Path_last_cycle,EulAng_last_cycle,Tether_last_cycle_x,... +% | Tether_last_cycle_y,Tether_last_cycle_z,ENVMT,45,30); % -% animate_flightpath_torque([],P_mech_last_cycle,... -% Path_last_cycle,EulAng_last_cycle,Tether_last_cycle_x,... -% Tether_last_cycle_y,Tether_last_cycle_z,ENVMT,45,30); +% | Other m-files required: animation_aircraft.m, animation_tether.m, animation_simtime.m, animation_colorbar.m +% | Subfunctions: None +% | MAT-files required: None % -% Other m-files required: animation_aircraft.m, animation_tether.m, -% animation_simtime.m, animation_colorbar.m -% Subfunctions: None -% MAT-files required: None -% -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% September 2020; Last revision: 28-September-2020 - +% :Revision: 28-September-2020 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + %------------- BEGIN CODE -------------- -% Graph axis limits +%% Graph axis limits -limitz = [0 1200]; -limity = [-600 600]; -limitx = [-100 1600]; +limitz = [0 1000]; +limity = [-800 800]; +limitx = [-400 1400]; +viewsetting = [14 24]; %% File name check % Check whether filename exists to prevent unwanted overwriting of the file @@ -117,7 +115,7 @@ axes1 = axes('Parent',fig_pow,'Position',[0.13,0.11,0.678584552871244,0.815]); hold(axes1,'on'); fig_pow.Renderer = 'painters'; -view([20 47]) +view(viewsetting) % set(gca,'XColor', 'none','YColor','none','ZColor','none') set(gcf, 'color', 'white'); % set(gca, 'color', 'white'); @@ -138,15 +136,6 @@ cb.Position = [0.874536933823625,0.111493416432584,0.010666666666667,0.815]; cb.Label.FontSize = 16; -% Graph limits -zlim(limitz) -ylim(limity) -xlim(limitx) -xlabel('x_W [m]','FontSize',25); -ylabel('y_W [m]','FontSize',25); -zlabel('z_W [m]','FontSize',25); -grid off - X = [limitx(1);limitx(2);limitx(2);limitx(1)]; Y = [limity(1);limity(1);limity(2);limity(2)]; Z = [limitz(1);limitz(1);limitz(1);limitz(1)]; @@ -170,6 +159,16 @@ Z = [limitz(1);limitz(1);limitz(2);limitz(2)]; fill3(X,Y,Z, c(:,2),'EdgeColor','none','FaceColor',c(1,:),'FaceAlpha',0.1); +% Graph limits +zlim(limitz) +ylim(limity) +xlim(limitx) +xlabel('x_W [m]','FontSize',25); +ylabel('y_W [m]','FontSize',25); +zlabel('z_W [m]','FontSize',25); +grid off +axis equal + %Path projections on sides/walls of the graph h(1) = scatter3(-Path_last_cycle.Data(1,:),Path_last_cycle.Data(2,:),zeros(size(-Path_last_cycle.Data(3,:)))); enhance_plot('Helvetica',25,2,20,0) @@ -189,20 +188,14 @@ % fps = 30; -% Create textbox -annotation(figure(1),'textbox',... - [0.0581428571428571 0.0452488687782827 0.210428571428571 0.0407239819004553],... - 'String',{'(Kite is not illustrated to scale)'},... - 'FontSize',16,... - 'FontAngle','italic',... - 'FitBoxToText','off',... - 'EdgeColor','none'); index_set = round(linspace(1,size(Path_last_cycle.Data,2),Tend*fps+1)); fanimator(axes1,@animation_tether,Path_last_cycle,Tether_last_cycle,index_set,Tend,... fps,t,'AnimationRange',[0 Tend],'FrameRate',fps) +scale = 6; fanimator(axes1,@animation_aircraft,Path_last_cycle,EulAng_last_cycle,... - ENVMT.windDirection_rad,index_set,Tend,fps,t,'AnimationRange',[0 Tend],'FrameRate',fps) + ENVMT.windDirection_rad,index_set,scale,Tend,fps,t,... + 'AnimationRange',[0 Tend],'FrameRate',fps) TimePos = [0.6*limitx(2), limity(2), limitz(2)]; fanimator(axes1,@animation_simtime,Path_last_cycle,TimePos,index_set,Tend,... @@ -218,6 +211,21 @@ h_axes.Visible = 'off'; % fanimator adjust axis, so revert back to match original h_axes.YLim = cb.Limits; % fanimator adjust axis, so revert back to match original +aircraft_scale = scale*(55/Wingspan); % STL file contains aircraft with 55m wingspan +% Create textbox +annotation(figure(1),'textbox',... + [0.0581428571428571 0.0452488687782827 0.210428571428571 0.0407239819004553],... + 'String',{['Kite illustrated at scale: ' num2str(round(aircraft_scale,1)) ':1']},... + 'FontSize',16,... + 'FontAngle','italic',... + 'FitBoxToText','off',... + 'EdgeColor','none'); + +%Aply axis limits again as correction of any changed values +axes1.XLim = limitx; +axes1.YLim = limity; +axes1.ZLim = limitz; + if WriteFileFlag vidObj = VideoWriter(FileName,'MPEG-4'); vidObj.FrameRate = fps; diff --git a/Extra/animation_aircraft.m b/Extra/animation_aircraft.m index b4ecfc7..134daac 100644 --- a/Extra/animation_aircraft.m +++ b/Extra/animation_aircraft.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -12,35 +12,33 @@ % See the License for the specific language governing permissions and % limitations under the License. -function p = animation_aircraft(Path_last_cycle,EulAng_last_cycle,windDir,index_set,Tend,fps,t) -%animation_aircraft - Animate aircraft position +function p = animation_aircraft(Path_last_cycle,EulAng_last_cycle,windDir,index_set,scale,Tend,fps,t) +%Animate aircraft position % -% Inputs: -% Path_last_cycle - Aircraft position -% EulAng_last_cycle - Aircraft orientation angles -% windDir - Wind direction -% index_set - Array containing the indices of the dataset that should be +% :param Path_last_cycle: Aircraft position +% :param EulAng_last_cycle: Aircraft orientation angles +% :param windDir: Wind direction +% :param index_set: Array containing the indices of the dataset that should be % used -% Tend - Video length -% fps - Frames per second -% t - animation time at particular step, provided by fanimator() +% :param scale: Aircraft illustration scale (actual scale/1.2886) +% :param Tend: Video length +% :param fps: Frames per second +% :param t: animation time at particular step, provided by fanimator() % -% Outputs: -% p - Aircraft plot handle +% :returns: +% - **p** - Aircraft plot handle % % Example: -% fanimator(axes1,@animation_aircraft,Path_last_cycle,EulAng_last_cycle,... -% ENVMT.windDirection_rad,Tend,fps,t,'AnimationRange',[0 Tend],'FrameRate',fps) +% | fanimator(axes1,@animation_aircraft,Path_last_cycle,EulAng_last_cycle,... +% | ENVMT.windDirection_rad,Tend,fps,t,'AnimationRange',[0 Tend],'FrameRate',fps) % -% Other m-files required: -% Subfunctions (bottom): drawVehicleBody2, rotate_PhiThetaPsi, translate_3D -% STL-files required: plane_thesis_big.stl +% | Other m-files required: None +% | Subfunctions (bottom): drawVehicleBody2, rotate_PhiThetaPsi, translate_3D +% | MAT-files required: plane_image.mat % -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% September 2020; Last revision: 17 September 2020 - +% :Revision: 17-September-2020 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + %------------- BEGIN CODE -------------- persistent Vert @@ -68,10 +66,12 @@ if isempty(Vert) % Scale the aircraft (bigger/smaller) - scale = 6; - - % Import aircraft from stl file - [F, V, C] = rndread('plane_thesis_big.stl'); +% scale = 6; + % Import aircraft from mat file + Image_kite = load('plane_image.mat','F','Verti','C'); + F = Image_kite.F; + V = Image_kite.Verti; + C = Image_kite.C; Vert = scale*V'; end p = drawVehicleBody2(Vert,pn, pe, pd, phi, theta, psi, windDir, F, C); @@ -85,6 +85,7 @@ V = transformFromOtoW(windDir, V); col = [ 57/255, 106/255, 177/255 ]; +% col2 = '#00A6D5'; p = patch('faces', F, 'vertices' ,V'); set(p, 'facec', 'b'); % Set the face color (force it) set(p, 'FaceVertexCData', C); % Set the color (from file) diff --git a/Extra/animation_colorbar.m b/Extra/animation_colorbar.m index 538f5f2..97a2a7c 100644 --- a/Extra/animation_colorbar.m +++ b/Extra/animation_colorbar.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,34 +13,31 @@ % limitations under the License. function handleLine = animation_colorbar(Power,index_set,Tend,fps,t) -%animation_colorbar - Animate instantaneous power on colorbar +%Animate instantaneous power on colorbar % -% Inputs: -% Path_last_cycle - Aircraft position -% index_set - Array containing the indices of the dataset that should be +% :param Path_last_cycle: Aircraft position +% :param index_set: Array containing the indices of the dataset that should be % used -% Tend - Video length -% fps - Frames per second -% t - animation time at particular step, provided by fanimator() +% :param Tend: Video length +% :param fps: Frames per second +% :param t: animation time at particular step, provided by fanimator() % -% Outputs: -% handleTime - Textbox plot handle +% :returns: +% - **handleLine** - Line moving over colorbar plot handle % % Example: -% h_axes = axes('Parent',fig_pow,'position', cb.Position, 'ylim', ... -% cb.Limits, 'color', 'none', 'visible','off'); -% fanimator(h_axes,@animation_colorbar,Power,Tend,... -% fps,t,'AnimationRange',[0 Tend],'FrameRate',fps) -% -% Other m-files required: None -% Subfunctions (bottom): None -% MAT-files required: None -% -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% September 2020; Last revision: 17 September 2020 - +% | h_axes = axes('Parent',fig_pow,'position', cb.Position, 'ylim', ... +% | cb.Limits, 'color', 'none', 'visible','off'); +% | fanimator(h_axes,@animation_colorbar,Power,Tend,... +% | fps,t,'AnimationRange',[0 Tend],'FrameRate',fps) +% +% | Other m-files required: None +% | Subfunctions: None +% | MAT-files required: None +% +% :Revision: 17-September-2020 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + %------------- BEGIN CODE -------------- datapoint = index_set(round(((t/(1/fps))+1))); diff --git a/Extra/animation_simtime.m b/Extra/animation_simtime.m index 5d2852f..8fe1d70 100644 --- a/Extra/animation_simtime.m +++ b/Extra/animation_simtime.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,29 +13,31 @@ % limitations under the License. function handleTime = animation_simtime(Path_last_cycle,pos,index_set,Tend,fps,t) -%animation_simtime - Animate timer according to datapoint time +%Animate timer according to datapoint time % -% Inputs: -% Path_last_cycle - Aircraft position -% Pos - timer position on figure -% index_set - Array containing the indices of the dataset that should be +% :param Path_last_cycle: Aircraft position +% :param Pos: timer position on figure +% :param index_set: Array containing the indices of the dataset that should be % used -% Tend - Video length -% fps - Frames per second -% t - animation time at particular step, provided by fanimator() +% :param Tend: Video length +% :param fps: Frames per second +% :param t: animation time at particular step, provided by fanimator() % -% Outputs: -% handleTime - Textbox plot handle +% :returns: +% - **handleTime** - Textbox with simulation time plot handle % -% Other m-files required: none -% Subfunctions (bottom): none -% MAT-files required: None +% Example: +% | TimePos = [0.6*limitx(2), limity(2), limitz(2)]; +% | fanimator(axes1,@animation_simtime,Path_last_cycle,TimePos,index_set,Tend,... +% | fps,t,'AnimationRange',[0 Tend],'FrameRate',fps) % -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% September 2020; Last revision: 17 September 2020 - +% | Other m-files required: None +% | Subfunctions: None +% | MAT-files required: None +% +% :Revision: 17-September-2020 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + %------------- BEGIN CODE -------------- datapoint = index_set(round(((t/(1/fps))+1))); @@ -49,7 +51,7 @@ % Current time simtime = Path_last_cycle.Time(datapoint)-Path_last_cycle.Time(1); -handleTime = text(pos(1), pos(2),pos(3), {[' Simulation time: ' num2str(simtime)],' '},... +handleTime = text(pos(1), pos(2),pos(3), {[' Simulation time: ' num2str(simtime) ' s'],' '},... 'Clipping', 'on', 'Horiz', 'left', 'Vert', 'bottom',... 'FontSize',20); diff --git a/Extra/animation_tether.m b/Extra/animation_tether.m index cea1a86..0e32551 100644 --- a/Extra/animation_tether.m +++ b/Extra/animation_tether.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,33 +13,30 @@ % limitations under the License. function handleParticles = animation_tether(Path_last_cycle,tether_last_cycle,index_set,Tend,fps,t) -%animation_tether - Animate tether shape +%Animate tether shape % -% Inputs: -% Path_last_cycle - Aircraft position -% tether_last_cycle - Tether particle xyz positions -% index_set - Array containing the indices of the dataset that should be +% :param Path_last_cycle: Aircraft position +% :param tether_last_cycle: Tether particle xyz positions +% :param index_set: Array containing the indices of the dataset that should be % used -% Tend - Video length -% fps - Frames per second -% t - animation time at particular step, provided by fanimator() +% :param Tend: Video length +% :param fps: Frames per second +% :param t: animation time at particular step, provided by fanimator() % -% Outputs: -% handleParticles - Tether plot handle +% :returns: +% - **handleParticles** - Tether plot handle % % Example: -% fanimator(axes1,@animation_tether,Path_last_cycle,Tether_last_cycle,Tend,... -% fps,t,'AnimationRange',[0 Tend],'FrameRate',fps) +% | fanimator(axes1,@animation_tether,Path_last_cycle,Tether_last_cycle,Tend,... +% | fps,t,'AnimationRange',[0 Tend],'FrameRate',fps) % -% Other m-files required: -% Subfunctions (bottom): drawParticleTether -% MAT-files required: None +% | Other m-files required: None +% | Subfunctions (bottom): drawParticleTether +% | MAT-files required: None % -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% September 2020; Last revision: 17 September 2020 - +% :Revision: 17-September-2020 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + %------------- BEGIN CODE -------------- datapoint = index_set(round(((t/(1/fps))+1))); @@ -56,9 +53,9 @@ pd = Path_last_cycle.Data(3,datapoint); % Tether particle positions -p_t_x = [0;tether_last_cycle.Data(1).Data(:,datapoint);-pn]; -p_t_y = [0;tether_last_cycle.Data(2).Data(:,datapoint); pe]; -p_t_z = [0;tether_last_cycle.Data(3).Data(:,datapoint);-pd]; +p_t_x = [0;flipud(tether_last_cycle.Data(1).Data(:,datapoint));-pn]; +p_t_y = [0;flipud(tether_last_cycle.Data(2).Data(:,datapoint)); pe]; +p_t_z = [0;flipud(tether_last_cycle.Data(3).Data(:,datapoint));-pd]; handleParticles = drawParticleTether(p_t_x,p_t_y,p_t_z); diff --git a/Extra/exportToPreviousVersion.m b/Extra/exportToPreviousVersion.m index f4b0c62..f025fa4 100644 --- a/Extra/exportToPreviousVersion.m +++ b/Extra/exportToPreviousVersion.m @@ -13,44 +13,42 @@ % limitations under the License. function exportToPreviousVersion(ModelName,Version) -%exportToPreviousVersion - Given simulink model is exported to a previous -% version. If the model contains referenced models (separate .slx files) -% these files are also tracked and exported to older versions. The Main -% simulink model is then adapted to refer to the files compatible in the -% same version. +%Given simulink model is exported to a previous version. % -% Syntax: exportToPreviousVersion('ModelName','Version') +% If the model contains referenced models (separate .slx files) +% these files are also tracked and exported to older versions. The Main +% simulink model is then adapted to refer to the files compatible in the +% same version. % -% Inputs: -% ModelName - Original model name -% Version - Matlab version to export to +% :param ModelName: Original model name +% :param Version: Matlab version to export to % -% Outputs: -% Model - Simulink model exported to given version -% Referenced models - Simulink model exported to given version +% :returns: Simulink model exported to given version % % Example: -% exportToPreviousVersion('Pointmass_eom_v4_1.slx','R2019B') +% exportToPreviousVersion('Dyn_PointMass_r2019b','R2015B') % -% Other m-files required: none -% Subfunctions: none -% MAT-files required: none +% | Other m-files required: None +% | Subfunctions: None +% | MAT-files required: None % -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% September 2020; Last revision: 04-September-2020 - +% :Revision: 28-September-2020 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + %------------- BEGIN CODE -------------- -CopyFileName = [ModelName(1:end-4) '_tempcopy.slx']; +CopyFileName = [ModelName(1:end-11) '_tempcopy.slx']; if exist(CopyFileName,'file') del_name = [pwd filesep CopyFileName]; delete(del_name) pause(0.5) clearvars del_name end -copyfile(ModelName,CopyFileName); +copyfile(which(ModelName),CopyFileName); +bdclose all +Replace_MdlRef_SubSys( CopyFileName(1:end-4) ); +movefile([CopyFileName(1:end-4), '_new.slx'],... + CopyFileName); load_system(CopyFileName) bl = Simulink.findBlocksOfType(CopyFileName(1:end-4),'ModelReference'); @@ -72,14 +70,16 @@ function exportToPreviousVersion(ModelName,Version) set_param(bl(i),'ModelFile',[modelName '_' Version ext]); end end -if exist([ModelName(1:end-4) '_' Version '.slx'],'file') - del_name = [pwd filesep ModelName(1:end-4) '_' Version '.slx']; +if exist([ModelName(1:end-11) '_' Version '.slx'],'file') + del_name = which([ModelName(1:end-11) '_' Version '.slx']); delete(del_name) pause(0.5) clearvars del_name end +set_param([CopyFileName(1:end-4) '/Visualisation'],'commented','on') save_system(CopyFileName,[],'OverwriteIfChangedOnDisk',true) -Simulink.exportToVersion(CopyFileName(1:end-4),[ModelName(1:end-4) '_' Version '.slx'],Version,'BreakUserLinks',true); + +Simulink.exportToVersion(CopyFileName(1:end-4),[ModelName(1:end-11) '_' Version '.slx'],Version,'BreakUserLinks',true); close_system(CopyFileName) del_name = [pwd filesep CopyFileName]; diff --git a/Lib/6DoF/Control_allocation_V60.mat b/Lib/6DoF/Control_allocation_V60.mat new file mode 100644 index 0000000..dd60ae6 --- /dev/null +++ b/Lib/6DoF/Control_allocation_V60.mat @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6d1fa06564c53a4fe3ae3a73355943430f1917a0cb9c58a9878fd3be50e81ee +size 3645 diff --git a/Lib/6DoF/out_power_all.mat b/Lib/6DoF/out_power_all.mat new file mode 100644 index 0000000..44614e8 --- /dev/null +++ b/Lib/6DoF/out_power_all.mat @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b99366782e24a814287002cc7f39dafe605ba4b20275429550cb3eeff85e3ffd +size 334 diff --git a/Lib/Common/DE2019_params.mat b/Lib/Common/DE2019_params.mat new file mode 100644 index 0000000..9778e6d --- /dev/null +++ b/Lib/Common/DE2019_params.mat @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a98de5274b5f96553da74e7b630df6f345b731ada0d1f5e54c342d34ef8346cf +size 23495 diff --git a/Lib/Common/winddata_Lidar_Avg.mat b/Lib/Common/winddata_Lidar_Avg.mat new file mode 100644 index 0000000..857f00d --- /dev/null +++ b/Lib/Common/winddata_Lidar_Avg.mat @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d920276b4b6f5d47cf40e125fa6c04b569385d65c110e887ef0741b2da27973 +size 628 diff --git a/Lib/DE2019_params.mat b/Lib/DE2019_params.mat deleted file mode 100644 index 9491961..0000000 --- a/Lib/DE2019_params.mat +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3c9992fe06de75d2baa4905481903fe60ef32a0fbaf8b3f1271a57ea8c9776ad -size 17021 diff --git a/Lib/Makani-RevE2-HC-new.dat b/Lib/Miscellaneous/Airfoil-RevE-HC.dat similarity index 100% rename from Lib/Makani-RevE2-HC-new.dat rename to Lib/Miscellaneous/Airfoil-RevE-HC.dat diff --git a/Lib/Miscellaneous/DE2019_FEM.mat b/Lib/Miscellaneous/DE2019_FEM.mat new file mode 100644 index 0000000..79bb6a8 --- /dev/null +++ b/Lib/Miscellaneous/DE2019_FEM.mat @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a65c034016547c3a8e5b835e613eb39e19f2910b0ea51bc899c695c9369f20c +size 45980941 diff --git a/Lib/Miscellaneous/DE2019_Nastran_materials.bdf b/Lib/Miscellaneous/DE2019_Nastran_materials.bdf new file mode 100644 index 0000000..ef14043 --- /dev/null +++ b/Lib/Miscellaneous/DE2019_Nastran_materials.bdf @@ -0,0 +1,136 @@ +$ Femap with NX Nastran Property 5 : Spar skin +PCOMP 5 0. 82.6+6 TSAI + ++ 3 .0005 0. YES +$ Femap with NX Nastran Property 555 : rib skin +PCOMP 555 0. 82.6+6 TSAI + ++ 3 .0004 0. YES +$ Femap with NX Nastran Property 9 : Rigid skin +PCOMP 9 0. 82.6+6 TSAI + ++ 502 5.-4 0. YES 501 2.-4 0. YES+ ++ 502 5.-4 90. YES 502 5.-4 0. YES+ ++ 502 5.-4 90. YES 501 2.-4 0. YES+ ++ 502 5.-4 0. YES +$ Femap with NX Nastran Property 11 : T-shaped CFRP stringers up +$ Femap with NX Nastran PropShape 11 : 11,0,0.005,0.005,0.001,0.001,0.001,0.001 +$ Femap with NX Nastran PropOrient 11 : 11,0,3.,1.,2.,5.,6.,1.,5.61402E-4,-5.614E-4 +PBEAM 11 2 9.-61.964-111.964-111.111-112.874-12 0.+ ++ 5.614-4-5.614-4 5.614-4.0044386-4.439-3 4.386-4-4.439-3-5.614-4+ ++ YESA 1. + ++ .4731567.4731567 + ++ -1.05-3.0010497 -1.05-3.0010497 +$ Femap with NX Nastran Property 12 : T-shaped CFRP stringers dn +$ Femap with NX Nastran PropShape 12 : 11,0,0.005,0.005,0.001,0.001,0.001,0.001 +$ Femap with NX Nastran PropOrient 12 : 11,0,2.,1.,2.,5.,6.,1.,5.61402E-4,-5.614E-4 +PBEAM 12 2 9.-61.964-111.964-11-1.11-112.874-12 0.+ ++ 5.614-4 5.614-4-4.439-3 5.614-4-4.386-4-4.439-3 5.614-4-4.439-3+ ++ YESA 1. + ++ .4731567.4731567 + ++ -1.05-3 -1.05-3 -1.05-3 -1.05-3 +$ Femap with NX Nastran Material 1 : GFRP Fabric iso +MAT1 1 2.+10 .2 1900. 0. 0. + ++ 4.4+8 4.25+8 4.+7 +$ Femap with NX Nastran Material 2 : T300/EPOXY uni +MAT1 2 1.35+115.315+10 .27 1580. 0. 0. +$ Femap with NX Nastran Material 3 : CFRP (HS) Fabric iso +MAT1 3 7.+10 5.+9 .1 1580. 0. 0. + ++ 6.+8 5.7+8 9.+7 +$ Femap with NX Nastran Material 4 : Null material +MAT1 4 1..3846154 .3 0. 0. 0. +$ Femap with NX Nastran Material 5 : Kapton +MAT1 5 2.5+99.3284+8 .34 1420. 0. 0. + ++ 2.31+8 +$ Femap with NX Nastran Material 11 : DuraForm (SLS) +MAT1 11 1.586+9 6.1+8 .3 1200. 0. 0. +$ Femap with NX Nastran Material 101 : E-Glass CAP +MAT8 101 4.5+10 1.3+10 .29 4.4+9 4.4+9 5.04+9 1727.+ ++ 0. 0. 0. 1.78+9 7.+8 6.5+7 1.92+8 6.2+7+ ++ +$ Femap with NX Nastran Material 102 : S-Glass CAP +MAT8 102 5.4+10 1.35+10 .26 4.46+9 4.46+9 5.15+9 1727.+ ++ 0. 0. 0. 1.78+9 7.+8 6.5+7 1.92+8 6.2+7+ ++ +$ Femap with NX Nastran Material 103 : T300/EPOXY (HT) CAP +MAT8 103 1.35+11 1.+10 .27 5.+9 5.+9 3.846+9 1580.+ ++ 0. 0. 0. 1.45+9 1.4+9 5.5+7 1.7+8 9.+7+ ++ +$ Femap with NX Nastran Material 104 : M40/EPOXY (HM) CAP +MAT8 104 2.2+11 7.+9 .35 5.+9 5.+9 2.917+9 1600.+ ++ 0. 0. 0. 1.1+9 1.1+9 5.+7 1.5+8 7.5+7+ ++ +$ Femap with NX Nastran Material 105 : GY70/EPOXY (UHM) CAP +MAT8 105 2.9+11 5.+9 .41 5.+9 5.+9 2.083+9 1600.+ ++ 0. 0. 0. 7.5+8 7.+8 4.+7 1.3+8 7.+7+ ++ +$ Femap with NX Nastran Material 106 : CFK Prepreg DON134 90 degrees CAP +MAT8 106 5.4+10 5.4+10 .09 2.+9 2.+9 2.+9 1500.+ ++ 0. 0. 0. 5.3+8 3.5+8 5.+8 3.4+8 1.+8+ ++ +$ Femap with NX Nastran Material 107 : Aluminium CAP +MAT1 107 7.+102.692+10 .3 2750. 0. 0. + ++ 3.+8 3.+8 1.5+8 +$ Femap with NX Nastran Material 108 : Steel CAP +MAT1 108 2.1+118.077+10 .3 7850. 0. 0. +$ Femap with NX Nastran Material 109 : Servo Rod +MAT1 109 1.+10 5+10 .3 0.1 8.00-8 0. + ++ 3.+8 3.+8 1.5+8 +$ Femap with NX Nastran Material 112 : Hinge Rod +MAT1 112 1.+12 5+13 .3 0.1 8.00-8 0. + ++ 3.+8 3.+8 1.5+8 +$ Femap with NX Nastran Material 110 : CFRP rod swiss composites +MAT1 110 1.4+11 9.8+9 .3 1600. 8.00-8 0. + ++ 3.+8 3.+8 1.5+8 +$ Femap with NX Nastran Material 111 : CFRP rod swiss composites no dens +MAT1 111 1.4+11 9.8+9 .3 1. 8.00-8 0. + ++ 3.+8 3.+8 1.5+8 +$ Femap with NX Nastran Material 201 : Glass Fabric 105g 91111 SC +MAT8 201 1.9+10 1.8+10 .35.8846+95.8846+95.8846+9 1700.+ ++ 0. 0. 0. + ++ +$ Femap with NX Nastran Material 301 : EAP +MAT8 301 960000. 720995. .45 248619. 248619. 248619. 1100.+ ++ 0. .01 0. + ++ +$ Femap with NX Nastran Material 302 : PZT-5A MFC pos +MAT8 302 3.03+10 1.59+10 .31 5.52+9 5.52+9 5.52+9 5115.9+ ++ 4.6-10 -2.1-10 0. + ++ +$ Femap with NX Nastran Material 303 : PZT-5A MFC neg +MAT8 303 3.03+10 1.59+10 .31 5.52+9 5.52+9 5.52+9 5115.9+ ++ -4.6-10 2.1-10 0. + ++ +$ Femap with NX Nastran Material 304 : PMN-PT MFC pos +MAT8 304 6.23+91.108+10 .229 2.01+9 2.01+9 2.01+9 5338.3+ ++ 1.8965-9-8.61-10 0. + ++ +$ Femap with NX Nastran Material 305 : PMN-PT MFC neg +MAT8 305 6.23+91.108+10 .229 2.01+9 2.01+9 2.01+9 5338.3+ ++ -1.897-98.612-10 0. + ++ +$ Femap with NX Nastran Material 403 : T700/EPOXY CAP +MAT8 4031.435+11 9.5+9 .32 6.15+9 6.15+9 3.654+9 1580.+ ++ 0. 0. 0. 1.45+9 1.4+9 5.5+7 1.7+8 9.+7+ ++ +$ Femap with NX Nastran Material 501 : GFRP Fabric 0.04mm - Dominic +MAT8 501 2.0+10 2.0+10 .103 3.276+9 3.276+9 3.276+9 1727.+ ++ 0. 0. 0. + ++ +$ Femap with NX Nastran Material 502 : CFRP UD 189um -Dominic +MAT8 5021.172+11 8.159+9 .3 6.15+9 6.15+9 3.6+9 1600.+ ++ 0. 0. 0. 2.45+9 6.86+7 5.+7 6.86+7 9.+7+ ++ +$ $ Femap with NX Nastran Material 503 : CFRP UD Marenco +$ MAT8 4041.400+11 9.8+9 .3 9.9+9 9.9+9 4.9+9 1600.+ +$ + 0. 0. 0. 2.10+9 1.73+9 56.5+6 56.5+6 1.02+8+ +$ + +$ $ Femap with NX Nastran Material 502 : CFRP Twill Marenco +$ MAT8 4056.960+10 6.8+10 .3 4.70+9 4.70+9 2.35+9 1600.+ +$ + 0. 0. 0. 8.88+8 8.88+8 8.03+8 8.18+8 1.07+8+ +$ + +$ Material 503 : CFRP UD Marenco tested by Marc Lienhard report p.64 +MAT8 4041.120+11 6.9+9 .3 9.9+9 9.9+9 4.9+9 1600.+ ++ 0. 0. 0. 2.10+9 1.73+9 56.5+6 56.5+6 1.02+8+ ++ +$ Material 502 : CFRP Twill Marenco tested by Motostudent report p.54 +MAT8 405 3.83+10 3.83+10 .3 4.70+9 4.70+9 2.35+9 1600.+ ++ 0. 0. 0. 8.88+8 8.88+8 8.03+8 8.18+8 1.07+8+ ++ \ No newline at end of file diff --git a/Lib/Miscellaneous/DE2019_Nastran_mesh.bdf b/Lib/Miscellaneous/DE2019_Nastran_mesh.bdf new file mode 100644 index 0000000..ccda46c --- /dev/null +++ b/Lib/Miscellaneous/DE2019_Nastran_mesh.bdf @@ -0,0 +1,84097 @@ +ASSIGN,OUTPUT2='b_1_StiffnessOut.op2',UNIT=23,FORM=UNFORMATTED +ASSIGN,OUTPUT2='b_1_MassOut.op2',UNIT=24,FORM=UNFORMATTED +ASSIGN,OUTPUT2='b_1_InertiaOut.op2',UNIT=25,FORM=UNFORMATTED +INIT MASTER(S) +NASTRAN OP2NEW=0, SYSTEM(319)=1 +SOL SESTATIC +TIME 10000 +$ COMPILER=LIST $ + +COMPILE SEMG $ +ALTER 361 $ +OUTPUT2 kjjz,,,,//-1/23/// $ +OUTPUT2 mjjx,,,,//-1/24/// $ +ENDALTER +COMPILE SEMG1 SOUIN=MSCSOU NOREF NOLIST $ +$COMPILE SEMG1$ +ALTER 24 $ +OUTPUT2 OGPWG,,,,//-1/25/// $ +ENDALTER +CEND + TITLE = Linear analysis + ECHO = NONE + SPC = 1 + DISPLACEMENT(PLOT) = ALL +SUBCASE = 1 + SUBTITLE = Aileron 1 actuation + LOAD = 1 + TEMP(LOAD) = 2 +BEGIN BULK +PARAM,POST,-1 +PARAM,OGEOM,NO +PARAM,AUTOSPC,YES +PARAM,GRDPNT,0 +$--END_NAST_OUT_HEADER-- + +INCLUDE 'DE2019_Nastran_materials.bdf' +PARAM,MAXRATIO,1+10 +TEMPD,2,0.000000 + + +$--END_NAST_OUT_HEADER-- +CORD2R,3,0,0.000000,0.000000,0.000000,0.000000,1.000000,0.000000 +,0.000000,0.000000,1.000000 +CORD2R,33,0,0.000000,0.000000,0.000000,0.000000,-1.00000,0.000000 +,0.000000,0.000000,-1.00000 +CORD2R,4,0,0.000000,0.000000,-.5000-2,0.000000,.1550000,-.5000-2 +,0.000000,0.000000,.1500000 +CORD2R,34,0,0.000000,0.000000,.50000-2,0.000000,-.155000,.50000-2 +,0.000000,0.000000,-.150000 +CORD2R,5,0,0.000000,0.000000,.1500000,0.000000,.8090909,.1500000 +,0.000000,0.000000,.9590909 +CORD2R,35,0,0.000000,0.000000,-.150000,0.000000,-.809091,-.150000 +,0.000000,0.000000,-.959091 +CORD2R,6,0,0.000000,0.000000,.9590909,0.000000,.9090909,.9590909 +,0.000000,0.000000,1.868182 +CORD2R,36,0,0.000000,0.000000,-.959091,0.000000,-.909091,-.959091 +,0.000000,0.000000,-1.86818 +CORD2R,7,0,0.000000,0.000000,1.868182,0.000000,.9090909,1.868182 +,0.000000,0.000000,2.777273 +CORD2R,37,0,0.000000,0.000000,-1.86818,0.000000,-.909091,-1.86818 +,0.000000,0.000000,-2.77727 +CORD2R,8,0,0.000000,0.000000,2.777273,0.000000,.9086665,2.777273 +,.7993-15,0.000000,3.685939 +CORD2R,38,0,0.000000,0.000000,-2.77727,0.000000,-.908666,-2.77727 +,.7993-15,0.000000,-3.68594 +CORD2R,9,0,.87529-3,0.000000,3.685939,.87529-3,.9107381,3.685939 +,-.040286,0.000000,4.596677 +CORD2R,39,0,.87529-3,0.000000,-3.68594,.87529-3,-.910738,-3.68594 +,-.040286,0.000000,-4.59668 +CORD2R,10,0,.0167897,0.000000,4.596677,.0167897,.9041909,4.596677 +,-.065108,0.000000,5.500868 +CORD2R,40,0,.0167897,0.000000,-4.59668,.0167897,-.904191,-4.59668 +,-.065108,0.000000,-5.50087 +CORD2R,11,0,.0474908,0.000000,5.500868,.0474908,.9164453,5.500868 +,-.041277,0.000000,6.417314 +CORD2R,41,0,.0474908,0.000000,-5.50087,.0474908,-.916445,-5.50087 +,-.041277,0.000000,-6.41731 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+CTRIA3,3509516,4025,3509506,3509512,3509513,, +CTRIA3,3509517,4025,2125023,3509518,2125024,, +CTRIA3,3509518,4025,3509514,3509511,3509519,, +CTRIA3,3509519,4025,3509519,2125026,3509514,, +CTRIA3,3509520,4025,3509519,3509511,2125049,, +CTRIA3,3509521,4025,2125001,2125026,3509519,, +CTRIA3,3509522,4025,3509519,2125049,2125001,, +CTRIA3,3509523,4025,3509518,2125023,3509515,, +CTRIA3,3509524,4025,3509515,2125023,2125022,, +CTRIA3,3509525,4025,2125022,2125027,3509515,, +CTRIA3,3509526,4025,3509506,3509513,2125051,, +CTRIA3,3509527,4025,3509510,3509513,3509518,, +CTRIA3,3509528,4025,3509518,3509515,3509510,, +CTRIA3,3509529,4025,3509510,3509515,3509505,, +CTRIA3,3509530,4025,3509505,2125051,3509510,, +CTRIA3,3509531,4025,3509510,2125051,3509513,, +CTRIA3,3509532,4025,2125029,3509505,2125028,, +CTRIA3,3509533,4025,3509505,3509515,2125028,, +CTRIA3,3509534,4025,2125028,3509515,2125027,, + +$ Femap Property 151 : Servo Rod +PROD,151,109,.10000-2,.98090-9,0.000000,.2121000 +$ Femap Property 193 : Hinge Rod +PROD,193,112,.0100000,.98090-9,0.000000,.2121000 +$ Femap with NX Nastran Property 17 : fuselage +PBEAML,17,110,MSCBML0,TUBE,,,, +,.6000000,.5982000,0.000000 +$ Femap with NX Nastran Property 19 : tail +PBEAML,19,110,MSCBML0,BOX,,,, +,2.500000,.3000000,.26000-2,.26000-2,0.000000 +$ Femap with NX Nastran Property 13 : Upper stringer +PBEAML,13,2,MSCBML0,BAR,,,, +,.0500000,.0141100,0.000000 +$ Femap with NX Nastran Property 15 : Lower stringer +PBEAML,15,2,MSCBML0,BAR,,,, +,.0500000,.61200-2,0.000000 +$ Femap Property 1821 : Spar 1 +PCOMP,1821, , ,82600.+3,TSAI, , , +,405,.24000-2,45.00000,YES,405,.48000-2,-45.0000,YES, +,405,.24000-2,45.00000,YES +$ Femap Property 1822 : Spar 2 +PCOMP,1822, , ,82600.+3,TSAI, , , +,405,.24000-2,45.00000,YES,405,.48000-2,-45.0000,YES, +,405,.24000-2,45.00000,YES +$ Femap Property 1823 : Spar 3 +PCOMP,1823, , ,82600.+3,TSAI, , , +,405,.24000-2,45.00000,YES,405,.48000-2,-45.0000,YES, +,405,.24000-2,45.00000,YES +$ Femap Property 1824 : Spar 4 +PCOMP,1824, , ,82600.+3,TSAI, , , +,405,.24000-2,45.00000,YES,405,.48000-2,-45.0000,YES, +,405,.24000-2,45.00000,YES +$ Femap Property 1825 : Spar 5 +PCOMP,1825, , ,82600.+3,TSAI, , , +,405,.24000-2,45.00000,YES,405,.48000-2,-45.0000,YES, +,405,.24000-2,45.00000,YES +$ Femap Property 1826 : Spar 6 +PCOMP,1826, , ,82600.+3,TSAI, , , +,405,.23056-2,45.00000,YES,405,.46111-2,-45.0000,YES, +,405,.23056-2,45.00000,YES +$ Femap Property 1827 : Spar 7 +PCOMP,1827, , ,82600.+3,TSAI, , , +,405,.22111-2,45.00000,YES,405,.44222-2,-45.0000,YES, +,405,.22111-2,45.00000,YES +$ Femap Property 1828 : Spar 8 +PCOMP,1828, , ,82600.+3,TSAI, , , +,405,.21167-2,45.00000,YES,405,.42333-2,-45.0000,YES, +,405,.21167-2,45.00000,YES +$ Femap Property 1829 : Spar 9 +PCOMP,1829, , ,82600.+3,TSAI, , , +,405,.20222-2,45.00000,YES,405,.40444-2,-45.0000,YES, +,405,.20222-2,45.00000,YES +$ Femap Property 1830 : Spar 10 +PCOMP,1830, , ,82600.+3,TSAI, , , +,405,.19278-2,45.00000,YES,405,.38556-2,-45.0000,YES, +,405,.19278-2,45.00000,YES +$ Femap Property 1831 : Spar 11 +PCOMP,1831, , ,82600.+3,TSAI, , , +,405,.18333-2,45.00000,YES,405,.36667-2,-45.0000,YES, +,405,.18333-2,45.00000,YES +$ Femap Property 1832 : Spar 12 +PCOMP,1832, , ,82600.+3,TSAI, , , +,405,.17389-2,45.00000,YES,405,.34778-2,-45.0000,YES, +,405,.17389-2,45.00000,YES +$ Femap Property 1833 : Spar 13 +PCOMP,1833, , ,82600.+3,TSAI, , , +,405,.16444-2,45.00000,YES,405,.32889-2,-45.0000,YES, +,405,.16444-2,45.00000,YES +$ Femap Property 1834 : Spar 14 +PCOMP,1834, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES +$ Femap Property 1835 : Spar 15 +PCOMP,1835, , ,82600.+3,TSAI, , , +,405,.14556-2,45.00000,YES,405,.29111-2,-45.0000,YES, +,405,.14556-2,45.00000,YES +$ Femap Property 1836 : Spar 16 +PCOMP,1836, , ,82600.+3,TSAI, , , +,405,.13611-2,45.00000,YES,405,.27222-2,-45.0000,YES, +,405,.13611-2,45.00000,YES +$ Femap Property 1837 : Spar 17 +PCOMP,1837, , ,82600.+3,TSAI, , , +,405,.12667-2,45.00000,YES,405,.25333-2,-45.0000,YES, +,405,.12667-2,45.00000,YES +$ Femap Property 1838 : Spar 18 +PCOMP,1838, , ,82600.+3,TSAI, , , +,405,.11722-2,45.00000,YES,405,.23444-2,-45.0000,YES, +,405,.11722-2,45.00000,YES +$ Femap Property 1839 : Spar 19 +PCOMP,1839, , ,82600.+3,TSAI, , , +,405,.10778-2,45.00000,YES,405,.21556-2,-45.0000,YES, +,405,.10778-2,45.00000,YES +$ Femap Property 1840 : Spar 20 +PCOMP,1840, , ,82600.+3,TSAI, , , +,405,.98333-3,45.00000,YES,405,.19667-2,-45.0000,YES, +,405,.98333-3,45.00000,YES +$ Femap Property 1841 : Spar 21 +PCOMP,1841, , ,82600.+3,TSAI, , , +,405,.88889-3,45.00000,YES,405,.17778-2,-45.0000,YES, +,405,.88889-3,45.00000,YES +$ Femap Property 1842 : Spar 22 +PCOMP,1842, , ,82600.+3,TSAI, , , +,405,.79444-3,45.00000,YES,405,.15889-2,-45.0000,YES, +,405,.79444-3,45.00000,YES +$ Femap Property 1843 : Spar 23 +PCOMP,1843, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES +$ Femap Property 2026 : Wing skin Span:1 Chord:1 +PCOMP,2026, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2027 : Wing skin Span:2 Chord:1 +PCOMP,2027, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2028 : Wing skin Span:3 Chord:1 +PCOMP,2028, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2029 : Wing skin Span:4 Chord:1 +PCOMP,2029, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2030 : Wing skin Span:5 Chord:1 +PCOMP,2030, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2031 : Wing skin Span:6 Chord:1 +PCOMP,2031, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2032 : Wing skin Span:7 Chord:1 +PCOMP,2032, , ,82600.+3,TSAI, , , +,405,.90000-3,45.00000,YES,405,.18000-2,-45.0000,YES, +,405,.90000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2033 : Wing skin Span:8 Chord:1 +PCOMP,2033, , ,82600.+3,TSAI, , , +,405,.90000-3,45.00000,YES,405,.18000-2,-45.0000,YES, +,405,.90000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2034 : Wing skin Span:9 Chord:1 +PCOMP,2034, , ,82600.+3,TSAI, , , +,405,.90000-3,45.00000,YES,405,.18000-2,-45.0000,YES, +,405,.90000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2035 : Wing skin Span:10 Chord:1 +PCOMP,2035, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2036 : Wing skin Span:11 Chord:1 +PCOMP,2036, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2037 : Wing skin Span:12 Chord:1 +PCOMP,2037, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2038 : Wing skin Span:13 Chord:1 +PCOMP,2038, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2039 : Wing skin Span:14 Chord:1 +PCOMP,2039, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2040 : Wing skin Span:15 Chord:1 +PCOMP,2040, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2041 : Wing skin Span:16 Chord:1 +PCOMP,2041, , ,82600.+3,TSAI, , , +,405,.75000-3,45.00000,YES,405,.15000-2,-45.0000,YES, +,405,.75000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2042 : Wing skin Span:17 Chord:1 +PCOMP,2042, , ,82600.+3,TSAI, , , +,405,.75000-3,45.00000,YES,405,.15000-2,-45.0000,YES, +,405,.75000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2043 : Wing skin Span:18 Chord:1 +PCOMP,2043, , ,82600.+3,TSAI, , , +,405,.75000-3,45.00000,YES,405,.15000-2,-45.0000,YES, +,405,.75000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2044 : Wing skin Span:19 Chord:1 +PCOMP,2044, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2045 : Wing skin Span:20 Chord:1 +PCOMP,2045, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2046 : Wing skin Span:21 Chord:1 +PCOMP,2046, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2047 : Wing skin Span:22 Chord:1 +PCOMP,2047, , ,82600.+3,TSAI, , , +,405,.65000-3,45.00000,YES,405,.13000-2,-45.0000,YES, +,405,.65000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2048 : Wing skin Span:23 Chord:1 +PCOMP,2048, , ,82600.+3,TSAI, , , +,405,.65000-3,45.00000,YES,405,.13000-2,-45.0000,YES, +,405,.65000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2051 : Wing skin Span:1 Chord:2 +PCOMP,2051, , ,82600.+3,TSAI, , , +,405,.14000-2,45.00000,YES,405,.28000-2,-45.0000,YES, +,405,.14000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2052 : Wing skin Span:2 Chord:2 +PCOMP,2052, , ,82600.+3,TSAI, , , +,405,.14000-2,45.00000,YES,405,.28000-2,-45.0000,YES, +,405,.14000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2053 : Wing skin Span:3 Chord:2 +PCOMP,2053, , ,82600.+3,TSAI, , , +,405,.14000-2,45.00000,YES,405,.28000-2,-45.0000,YES, +,405,.14000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2054 : Wing skin Span:4 Chord:2 +PCOMP,2054, , ,82600.+3,TSAI, , , +,405,.13500-2,45.00000,YES,405,.27000-2,-45.0000,YES, +,405,.13500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2055 : Wing skin Span:5 Chord:2 +PCOMP,2055, , ,82600.+3,TSAI, , , +,405,.13500-2,45.00000,YES,405,.27000-2,-45.0000,YES, +,405,.13500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2056 : Wing skin Span:6 Chord:2 +PCOMP,2056, , ,82600.+3,TSAI, , , +,405,.13500-2,45.00000,YES,405,.27000-2,-45.0000,YES, +,405,.13500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2057 : Wing skin Span:7 Chord:2 +PCOMP,2057, , ,82600.+3,TSAI, , , +,405,.13000-2,45.00000,YES,405,.26000-2,-45.0000,YES, +,405,.13000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2058 : Wing skin Span:8 Chord:2 +PCOMP,2058, , ,82600.+3,TSAI, , , +,405,.13000-2,45.00000,YES,405,.26000-2,-45.0000,YES, +,405,.13000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2059 : Wing skin Span:9 Chord:2 +PCOMP,2059, , ,82600.+3,TSAI, , , +,405,.13000-2,45.00000,YES,405,.26000-2,-45.0000,YES, +,405,.13000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2060 : Wing skin Span:10 Chord:2 +PCOMP,2060, , ,82600.+3,TSAI, , , +,405,.12500-2,45.00000,YES,405,.25000-2,-45.0000,YES, +,405,.12500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2061 : Wing skin Span:11 Chord:2 +PCOMP,2061, , ,82600.+3,TSAI, , , +,405,.12500-2,45.00000,YES,405,.25000-2,-45.0000,YES, +,405,.12500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2062 : Wing skin Span:12 Chord:2 +PCOMP,2062, , ,82600.+3,TSAI, , , +,405,.12500-2,45.00000,YES,405,.25000-2,-45.0000,YES, +,405,.12500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2063 : Wing skin Span:13 Chord:2 +PCOMP,2063, , ,82600.+3,TSAI, , , +,405,.12000-2,45.00000,YES,405,.24000-2,-45.0000,YES, +,405,.12000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2064 : Wing skin Span:14 Chord:2 +PCOMP,2064, , ,82600.+3,TSAI, , , +,405,.12000-2,45.00000,YES,405,.24000-2,-45.0000,YES, +,405,.12000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2065 : Wing skin Span:15 Chord:2 +PCOMP,2065, , ,82600.+3,TSAI, , , +,405,.12000-2,45.00000,YES,405,.24000-2,-45.0000,YES, +,405,.12000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2066 : Wing skin Span:16 Chord:2 +PCOMP,2066, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2067 : Wing skin Span:17 Chord:2 +PCOMP,2067, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2068 : Wing skin Span:18 Chord:2 +PCOMP,2068, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2069 : Wing skin Span:19 Chord:2 +PCOMP,2069, , ,82600.+3,TSAI, , , +,405,.11000-2,45.00000,YES,405,.22000-2,-45.0000,YES, +,405,.11000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2070 : Wing skin Span:20 Chord:2 +PCOMP,2070, , ,82600.+3,TSAI, , , +,405,.11000-2,45.00000,YES,405,.22000-2,-45.0000,YES, +,405,.11000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2071 : Wing skin Span:21 Chord:2 +PCOMP,2071, , ,82600.+3,TSAI, , , +,405,.11000-2,45.00000,YES,405,.22000-2,-45.0000,YES, +,405,.11000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2072 : Wing skin Span:22 Chord:2 +PCOMP,2072, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2073 : Wing skin Span:23 Chord:2 +PCOMP,2073, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2076 : Wing skin Span:1 Chord:3 +PCOMP,2076, , ,82600.+3,TSAI, , , +,405,.14000-2,45.00000,YES,405,.28000-2,-45.0000,YES, +,405,.14000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2077 : Wing skin Span:2 Chord:3 +PCOMP,2077, , ,82600.+3,TSAI, , , +,405,.14000-2,45.00000,YES,405,.28000-2,-45.0000,YES, +,405,.14000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2078 : Wing skin Span:3 Chord:3 +PCOMP,2078, , ,82600.+3,TSAI, , , +,405,.14000-2,45.00000,YES,405,.28000-2,-45.0000,YES, +,405,.14000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2079 : Wing skin Span:4 Chord:3 +PCOMP,2079, , ,82600.+3,TSAI, , , +,405,.13500-2,45.00000,YES,405,.27000-2,-45.0000,YES, +,405,.13500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2080 : Wing skin Span:5 Chord:3 +PCOMP,2080, , ,82600.+3,TSAI, , , +,405,.13500-2,45.00000,YES,405,.27000-2,-45.0000,YES, +,405,.13500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2081 : Wing skin Span:6 Chord:3 +PCOMP,2081, , ,82600.+3,TSAI, , , +,405,.13500-2,45.00000,YES,405,.27000-2,-45.0000,YES, +,405,.13500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2082 : Wing skin Span:7 Chord:3 +PCOMP,2082, , ,82600.+3,TSAI, , , +,405,.13000-2,45.00000,YES,405,.26000-2,-45.0000,YES, +,405,.13000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2083 : Wing skin Span:8 Chord:3 +PCOMP,2083, , ,82600.+3,TSAI, , , +,405,.13000-2,45.00000,YES,405,.26000-2,-45.0000,YES, +,405,.13000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2084 : Wing skin Span:9 Chord:3 +PCOMP,2084, , ,82600.+3,TSAI, , , +,405,.13000-2,45.00000,YES,405,.26000-2,-45.0000,YES, +,405,.13000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2085 : Wing skin Span:10 Chord:3 +PCOMP,2085, , ,82600.+3,TSAI, , , +,405,.12500-2,45.00000,YES,405,.25000-2,-45.0000,YES, +,405,.12500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2086 : Wing skin Span:11 Chord:3 +PCOMP,2086, , ,82600.+3,TSAI, , , +,405,.12500-2,45.00000,YES,405,.25000-2,-45.0000,YES, +,405,.12500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2087 : Wing skin Span:12 Chord:3 +PCOMP,2087, , ,82600.+3,TSAI, , , +,405,.12500-2,45.00000,YES,405,.25000-2,-45.0000,YES, +,405,.12500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2088 : Wing skin Span:13 Chord:3 +PCOMP,2088, , ,82600.+3,TSAI, , , +,405,.12000-2,45.00000,YES,405,.24000-2,-45.0000,YES, +,405,.12000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2089 : Wing skin Span:14 Chord:3 +PCOMP,2089, , ,82600.+3,TSAI, , , +,405,.12000-2,45.00000,YES,405,.24000-2,-45.0000,YES, +,405,.12000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2090 : Wing skin Span:15 Chord:3 +PCOMP,2090, , ,82600.+3,TSAI, , , +,405,.12000-2,45.00000,YES,405,.24000-2,-45.0000,YES, +,405,.12000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2091 : Wing skin Span:16 Chord:3 +PCOMP,2091, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2092 : Wing skin Span:17 Chord:3 +PCOMP,2092, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2093 : Wing skin Span:18 Chord:3 +PCOMP,2093, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2094 : Wing skin Span:19 Chord:3 +PCOMP,2094, , ,82600.+3,TSAI, , , +,405,.11000-2,45.00000,YES,405,.22000-2,-45.0000,YES, +,405,.11000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2095 : Wing skin Span:20 Chord:3 +PCOMP,2095, , ,82600.+3,TSAI, , , +,405,.11000-2,45.00000,YES,405,.22000-2,-45.0000,YES, +,405,.11000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2096 : Wing skin Span:21 Chord:3 +PCOMP,2096, , ,82600.+3,TSAI, , , +,405,.11000-2,45.00000,YES,405,.22000-2,-45.0000,YES, +,405,.11000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2097 : Wing skin Span:22 Chord:3 +PCOMP,2097, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2098 : Wing skin Span:23 Chord:3 +PCOMP,2098, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2101 : Wing skin Span:1 Chord:4 +PCOMP,2101, , ,82600.+3,TSAI, , , +,405,.13500-2,45.00000,YES,405,.27000-2,-45.0000,YES, +,405,.13500-2,45.00000,YES,404,.0147900,0.000000,YES +$ Femap Property 2102 : Wing skin Span:2 Chord:4 +PCOMP,2102, , ,82600.+3,TSAI, , , +,405,.13500-2,45.00000,YES,405,.27000-2,-45.0000,YES, +,405,.13500-2,45.00000,YES,404,.0147900,0.000000,YES +$ Femap Property 2103 : Wing skin Span:3 Chord:4 +PCOMP,2103, , ,82600.+3,TSAI, , , +,405,.13500-2,45.00000,YES,405,.27000-2,-45.0000,YES, +,405,.13500-2,45.00000,YES,404,.0147900,0.000000,YES +$ Femap Property 2104 : Wing skin Span:4 Chord:4 +PCOMP,2104, , ,82600.+3,TSAI, , , +,405,.12500-2,45.00000,YES,405,.25000-2,-45.0000,YES, +,405,.12500-2,45.00000,YES,404,.0139400,0.000000,YES +$ Femap Property 2105 : Wing skin Span:5 Chord:4 +PCOMP,2105, , ,82600.+3,TSAI, , , +,405,.12500-2,45.00000,YES,405,.25000-2,-45.0000,YES, +,405,.12500-2,45.00000,YES,404,.0139400,0.000000,YES +$ Femap Property 2106 : Wing skin Span:6 Chord:4 +PCOMP,2106, , ,82600.+3,TSAI, , , +,405,.12500-2,45.00000,YES,405,.25000-2,-45.0000,YES, +,405,.12500-2,45.00000,YES,404,.0139400,0.000000,YES +$ Femap Property 2107 : Wing skin Span:7 Chord:4 +PCOMP,2107, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.0130900,0.000000,YES +$ Femap Property 2108 : Wing skin Span:8 Chord:4 +PCOMP,2108, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.0130900,0.000000,YES +$ Femap Property 2109 : Wing skin Span:9 Chord:4 +PCOMP,2109, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.0130900,0.000000,YES +$ Femap Property 2110 : Wing skin Span:10 Chord:4 +PCOMP,2110, , ,82600.+3,TSAI, , , +,405,.90000-3,45.00000,YES,405,.18000-2,-45.0000,YES, +,405,.90000-3,45.00000,YES,404,.0120700,0.000000,YES +$ Femap Property 2111 : Wing skin Span:11 Chord:4 +PCOMP,2111, , ,82600.+3,TSAI, , , +,405,.90000-3,45.00000,YES,405,.18000-2,-45.0000,YES, +,405,.90000-3,45.00000,YES,404,.0120700,0.000000,YES +$ Femap Property 2112 : Wing skin Span:12 Chord:4 +PCOMP,2112, , ,82600.+3,TSAI, , , +,405,.90000-3,45.00000,YES,405,.18000-2,-45.0000,YES, +,405,.90000-3,45.00000,YES,404,.0120700,0.000000,YES +$ Femap Property 2113 : Wing skin Span:13 Chord:4 +PCOMP,2113, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.0112200,0.000000,YES +$ Femap Property 2114 : Wing skin Span:14 Chord:4 +PCOMP,2114, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.0112200,0.000000,YES +$ Femap Property 2115 : Wing skin Span:15 Chord:4 +PCOMP,2115, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.0112200,0.000000,YES +$ Femap Property 2116 : Wing skin Span:16 Chord:4 +PCOMP,2116, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.0102000,0.000000,YES +$ Femap Property 2117 : Wing skin Span:17 Chord:4 +PCOMP,2117, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.0102000,0.000000,YES +$ Femap Property 2118 : Wing skin Span:18 Chord:4 +PCOMP,2118, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.0102000,0.000000,YES +$ Femap Property 2119 : Wing skin Span:19 Chord:4 +PCOMP,2119, , ,82600.+3,TSAI, , , +,405,.45000-3,45.00000,YES,405,.90000-3,-45.0000,YES, +,405,.45000-3,45.00000,YES,404,.93500-2,0.000000,YES +$ Femap Property 2120 : Wing skin Span:20 Chord:4 +PCOMP,2120, , ,82600.+3,TSAI, , , +,405,.45000-3,45.00000,YES,405,.90000-3,-45.0000,YES, +,405,.45000-3,45.00000,YES,404,.93500-2,0.000000,YES +$ Femap Property 2121 : Wing skin Span:21 Chord:4 +PCOMP,2121, , ,82600.+3,TSAI, , , +,405,.45000-3,45.00000,YES,405,.90000-3,-45.0000,YES, +,405,.45000-3,45.00000,YES,404,.93500-2,0.000000,YES +$ Femap Property 2122 : Wing skin Span:22 Chord:4 +PCOMP,2122, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.83300-2,0.000000,YES +$ Femap Property 2123 : Wing skin Span:23 Chord:4 +PCOMP,2123, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.83300-2,0.000000,YES +$ Femap Property 2126 : Wing skin Span:1 Chord:5 +PCOMP,2126, , ,82600.+3,TSAI, , , +,405,.44000-2,45.00000,YES,405,.88000-2,-45.0000,YES, +,405,.44000-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2127 : Wing skin Span:2 Chord:5 +PCOMP,2127, , ,82600.+3,TSAI, , , +,405,.44000-2,45.00000,YES,405,.88000-2,-45.0000,YES, +,405,.44000-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2128 : Wing skin Span:3 Chord:5 +PCOMP,2128, , ,82600.+3,TSAI, , , +,405,.44000-2,45.00000,YES,405,.88000-2,-45.0000,YES, +,405,.44000-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2129 : Wing skin Span:4 Chord:5 +PCOMP,2129, , ,82600.+3,TSAI, , , +,405,.38500-2,45.00000,YES,405,.77000-2,-45.0000,YES, +,405,.38500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2130 : Wing skin Span:5 Chord:5 +PCOMP,2130, , ,82600.+3,TSAI, , , +,405,.38500-2,45.00000,YES,405,.77000-2,-45.0000,YES, +,405,.38500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2131 : Wing skin Span:6 Chord:5 +PCOMP,2131, , ,82600.+3,TSAI, , , +,405,.38500-2,45.00000,YES,405,.77000-2,-45.0000,YES, +,405,.38500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2132 : Wing skin Span:7 Chord:5 +PCOMP,2132, , ,82600.+3,TSAI, , , +,405,.33000-2,45.00000,YES,405,.66000-2,-45.0000,YES, +,405,.33000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2133 : Wing skin Span:8 Chord:5 +PCOMP,2133, , ,82600.+3,TSAI, , , +,405,.33000-2,45.00000,YES,405,.66000-2,-45.0000,YES, +,405,.33000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2134 : Wing skin Span:9 Chord:5 +PCOMP,2134, , ,82600.+3,TSAI, , , +,405,.33000-2,45.00000,YES,405,.66000-2,-45.0000,YES, +,405,.33000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2135 : Wing skin Span:10 Chord:5 +PCOMP,2135, , ,82600.+3,TSAI, , , +,405,.27000-2,45.00000,YES,405,.54000-2,-45.0000,YES, +,405,.27000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2136 : Wing skin Span:11 Chord:5 +PCOMP,2136, , ,82600.+3,TSAI, , , +,405,.27000-2,45.00000,YES,405,.54000-2,-45.0000,YES, +,405,.27000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2137 : Wing skin Span:12 Chord:5 +PCOMP,2137, , ,82600.+3,TSAI, , , +,405,.27000-2,45.00000,YES,405,.54000-2,-45.0000,YES, +,405,.27000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2138 : Wing skin Span:13 Chord:5 +PCOMP,2138, , ,82600.+3,TSAI, , , +,405,.21500-2,45.00000,YES,405,.43000-2,-45.0000,YES, +,405,.21500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2139 : Wing skin Span:14 Chord:5 +PCOMP,2139, , ,82600.+3,TSAI, , , +,405,.21500-2,45.00000,YES,405,.43000-2,-45.0000,YES, +,405,.21500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2140 : Wing skin Span:15 Chord:5 +PCOMP,2140, , ,82600.+3,TSAI, , , +,405,.21500-2,45.00000,YES,405,.43000-2,-45.0000,YES, +,405,.21500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2141 : Wing skin Span:16 Chord:5 +PCOMP,2141, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2142 : Wing skin Span:17 Chord:5 +PCOMP,2142, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2143 : Wing skin Span:18 Chord:5 +PCOMP,2143, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2144 : Wing skin Span:19 Chord:5 +PCOMP,2144, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2145 : Wing skin Span:20 Chord:5 +PCOMP,2145, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2146 : Wing skin Span:21 Chord:5 +PCOMP,2146, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2147 : Wing skin Span:22 Chord:5 +PCOMP,2147, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2148 : Wing skin Span:23 Chord:5 +PCOMP,2148, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2151 : Wing skin Span:1 Chord:6 +PCOMP,2151, , ,82600.+3,TSAI, , , +,405,.44000-2,45.00000,YES,405,.88000-2,-45.0000,YES, +,405,.44000-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2152 : Wing skin Span:2 Chord:6 +PCOMP,2152, , ,82600.+3,TSAI, , , +,405,.44000-2,45.00000,YES,405,.88000-2,-45.0000,YES, +,405,.44000-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2153 : Wing skin Span:3 Chord:6 +PCOMP,2153, , ,82600.+3,TSAI, , , +,405,.44000-2,45.00000,YES,405,.88000-2,-45.0000,YES, +,405,.44000-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2154 : Wing skin Span:4 Chord:6 +PCOMP,2154, , ,82600.+3,TSAI, , , +,405,.38500-2,45.00000,YES,405,.77000-2,-45.0000,YES, +,405,.38500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2155 : Wing skin Span:5 Chord:6 +PCOMP,2155, , ,82600.+3,TSAI, , , +,405,.38500-2,45.00000,YES,405,.77000-2,-45.0000,YES, +,405,.38500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2156 : Wing skin Span:6 Chord:6 +PCOMP,2156, , ,82600.+3,TSAI, , , +,405,.38500-2,45.00000,YES,405,.77000-2,-45.0000,YES, +,405,.38500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2157 : Wing skin Span:7 Chord:6 +PCOMP,2157, , ,82600.+3,TSAI, , , +,405,.33000-2,45.00000,YES,405,.66000-2,-45.0000,YES, +,405,.33000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2158 : Wing skin Span:8 Chord:6 +PCOMP,2158, , ,82600.+3,TSAI, , , +,405,.33000-2,45.00000,YES,405,.66000-2,-45.0000,YES, +,405,.33000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2159 : Wing skin Span:9 Chord:6 +PCOMP,2159, , ,82600.+3,TSAI, , , +,405,.33000-2,45.00000,YES,405,.66000-2,-45.0000,YES, +,405,.33000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2160 : Wing skin Span:10 Chord:6 +PCOMP,2160, , ,82600.+3,TSAI, , , +,405,.27000-2,45.00000,YES,405,.54000-2,-45.0000,YES, +,405,.27000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2161 : Wing skin Span:11 Chord:6 +PCOMP,2161, , ,82600.+3,TSAI, , , +,405,.27000-2,45.00000,YES,405,.54000-2,-45.0000,YES, +,405,.27000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2162 : Wing skin Span:12 Chord:6 +PCOMP,2162, , ,82600.+3,TSAI, , , +,405,.27000-2,45.00000,YES,405,.54000-2,-45.0000,YES, +,405,.27000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2163 : Wing skin Span:13 Chord:6 +PCOMP,2163, , ,82600.+3,TSAI, , , +,405,.21500-2,45.00000,YES,405,.43000-2,-45.0000,YES, +,405,.21500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2164 : Wing skin Span:14 Chord:6 +PCOMP,2164, , ,82600.+3,TSAI, , , +,405,.21500-2,45.00000,YES,405,.43000-2,-45.0000,YES, +,405,.21500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2165 : Wing skin Span:15 Chord:6 +PCOMP,2165, , ,82600.+3,TSAI, , , +,405,.21500-2,45.00000,YES,405,.43000-2,-45.0000,YES, +,405,.21500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2166 : Wing skin Span:16 Chord:6 +PCOMP,2166, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2167 : Wing skin Span:17 Chord:6 +PCOMP,2167, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2168 : Wing skin Span:18 Chord:6 +PCOMP,2168, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2169 : Wing skin Span:19 Chord:6 +PCOMP,2169, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2170 : Wing skin Span:20 Chord:6 +PCOMP,2170, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2171 : Wing skin Span:21 Chord:6 +PCOMP,2171, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2172 : Wing skin Span:22 Chord:6 +PCOMP,2172, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2173 : Wing skin Span:23 Chord:6 +PCOMP,2173, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2176 : Wing skin Span:1 Chord:7 +PCOMP,2176, , ,82600.+3,TSAI, , , +,405,.44000-2,45.00000,YES,405,.88000-2,-45.0000,YES, +,405,.44000-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2177 : Wing skin Span:2 Chord:7 +PCOMP,2177, , ,82600.+3,TSAI, , , +,405,.44000-2,45.00000,YES,405,.88000-2,-45.0000,YES, +,405,.44000-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2178 : Wing skin Span:3 Chord:7 +PCOMP,2178, , ,82600.+3,TSAI, , , +,405,.44000-2,45.00000,YES,405,.88000-2,-45.0000,YES, +,405,.44000-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2179 : Wing skin Span:4 Chord:7 +PCOMP,2179, , ,82600.+3,TSAI, , , +,405,.38500-2,45.00000,YES,405,.77000-2,-45.0000,YES, +,405,.38500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2180 : Wing skin Span:5 Chord:7 +PCOMP,2180, , ,82600.+3,TSAI, , , +,405,.38500-2,45.00000,YES,405,.77000-2,-45.0000,YES, +,405,.38500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2181 : Wing skin Span:6 Chord:7 +PCOMP,2181, , ,82600.+3,TSAI, , , +,405,.38500-2,45.00000,YES,405,.77000-2,-45.0000,YES, +,405,.38500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2182 : Wing skin Span:7 Chord:7 +PCOMP,2182, , ,82600.+3,TSAI, , , +,405,.33000-2,45.00000,YES,405,.66000-2,-45.0000,YES, +,405,.33000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2183 : Wing skin Span:8 Chord:7 +PCOMP,2183, , ,82600.+3,TSAI, , , +,405,.33000-2,45.00000,YES,405,.66000-2,-45.0000,YES, +,405,.33000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2184 : Wing skin Span:9 Chord:7 +PCOMP,2184, , ,82600.+3,TSAI, , , +,405,.33000-2,45.00000,YES,405,.66000-2,-45.0000,YES, +,405,.33000-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2185 : Wing skin Span:10 Chord:7 +PCOMP,2185, , ,82600.+3,TSAI, , , +,405,.27000-2,45.00000,YES,405,.54000-2,-45.0000,YES, +,405,.27000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2186 : Wing skin Span:11 Chord:7 +PCOMP,2186, , ,82600.+3,TSAI, , , +,405,.27000-2,45.00000,YES,405,.54000-2,-45.0000,YES, +,405,.27000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2187 : Wing skin Span:12 Chord:7 +PCOMP,2187, , ,82600.+3,TSAI, , , +,405,.27000-2,45.00000,YES,405,.54000-2,-45.0000,YES, +,405,.27000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2188 : Wing skin Span:13 Chord:7 +PCOMP,2188, , ,82600.+3,TSAI, , , +,405,.21500-2,45.00000,YES,405,.43000-2,-45.0000,YES, +,405,.21500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2189 : Wing skin Span:14 Chord:7 +PCOMP,2189, , ,82600.+3,TSAI, , , +,405,.21500-2,45.00000,YES,405,.43000-2,-45.0000,YES, +,405,.21500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2190 : Wing skin Span:15 Chord:7 +PCOMP,2190, , ,82600.+3,TSAI, , , +,405,.21500-2,45.00000,YES,405,.43000-2,-45.0000,YES, +,405,.21500-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2191 : Wing skin Span:16 Chord:7 +PCOMP,2191, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2192 : Wing skin Span:17 Chord:7 +PCOMP,2192, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2193 : Wing skin Span:18 Chord:7 +PCOMP,2193, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2194 : Wing skin Span:19 Chord:7 +PCOMP,2194, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2195 : Wing skin Span:20 Chord:7 +PCOMP,2195, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2196 : Wing skin Span:21 Chord:7 +PCOMP,2196, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2197 : Wing skin Span:22 Chord:7 +PCOMP,2197, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2198 : Wing skin Span:23 Chord:7 +PCOMP,2198, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2201 : Wing skin Span:1 Chord:8 +PCOMP,2201, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2202 : Wing skin Span:2 Chord:8 +PCOMP,2202, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2203 : Wing skin Span:3 Chord:8 +PCOMP,2203, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2204 : Wing skin Span:4 Chord:8 +PCOMP,2204, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2205 : Wing skin Span:5 Chord:8 +PCOMP,2205, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2206 : Wing skin Span:6 Chord:8 +PCOMP,2206, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2207 : Wing skin Span:7 Chord:8 +PCOMP,2207, , ,82600.+3,TSAI, , , +,405,.95000-3,45.00000,YES,405,.19000-2,-45.0000,YES, +,405,.95000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2208 : Wing skin Span:8 Chord:8 +PCOMP,2208, , ,82600.+3,TSAI, , , +,405,.95000-3,45.00000,YES,405,.19000-2,-45.0000,YES, +,405,.95000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2209 : Wing skin Span:9 Chord:8 +PCOMP,2209, , ,82600.+3,TSAI, , , +,405,.95000-3,45.00000,YES,405,.19000-2,-45.0000,YES, +,405,.95000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2210 : Wing skin Span:10 Chord:8 +PCOMP,2210, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2211 : Wing skin Span:11 Chord:8 +PCOMP,2211, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2212 : Wing skin Span:12 Chord:8 +PCOMP,2212, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2213 : Wing skin Span:13 Chord:8 +PCOMP,2213, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2214 : Wing skin Span:14 Chord:8 +PCOMP,2214, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2215 : Wing skin Span:15 Chord:8 +PCOMP,2215, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2216 : Wing skin Span:16 Chord:8 +PCOMP,2216, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2217 : Wing skin Span:17 Chord:8 +PCOMP,2217, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2218 : Wing skin Span:18 Chord:8 +PCOMP,2218, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2219 : Wing skin Span:19 Chord:8 +PCOMP,2219, , ,82600.+3,TSAI, , , +,405,.50000-3,45.00000,YES,405,.10000-2,-45.0000,YES, +,405,.50000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2220 : Wing skin Span:20 Chord:8 +PCOMP,2220, , ,82600.+3,TSAI, , , +,405,.50000-3,45.00000,YES,405,.10000-2,-45.0000,YES, +,405,.50000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2221 : Wing skin Span:21 Chord:8 +PCOMP,2221, , ,82600.+3,TSAI, , , +,405,.50000-3,45.00000,YES,405,.10000-2,-45.0000,YES, +,405,.50000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2222 : Wing skin Span:22 Chord:8 +PCOMP,2222, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2223 : Wing skin Span:23 Chord:8 +PCOMP,2223, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2226 : Wing skin Span:1 Chord:9 +PCOMP,2226, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2227 : Wing skin Span:2 Chord:9 +PCOMP,2227, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2228 : Wing skin Span:3 Chord:9 +PCOMP,2228, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2229 : Wing skin Span:4 Chord:9 +PCOMP,2229, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2230 : Wing skin Span:5 Chord:9 +PCOMP,2230, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2231 : Wing skin Span:6 Chord:9 +PCOMP,2231, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2232 : Wing skin Span:7 Chord:9 +PCOMP,2232, , ,82600.+3,TSAI, , , +,405,.95000-3,45.00000,YES,405,.19000-2,-45.0000,YES, +,405,.95000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2233 : Wing skin Span:8 Chord:9 +PCOMP,2233, , ,82600.+3,TSAI, , , +,405,.95000-3,45.00000,YES,405,.19000-2,-45.0000,YES, +,405,.95000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2234 : Wing skin Span:9 Chord:9 +PCOMP,2234, , ,82600.+3,TSAI, , , +,405,.95000-3,45.00000,YES,405,.19000-2,-45.0000,YES, +,405,.95000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2235 : Wing skin Span:10 Chord:9 +PCOMP,2235, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2236 : Wing skin Span:11 Chord:9 +PCOMP,2236, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2237 : Wing skin Span:12 Chord:9 +PCOMP,2237, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2238 : Wing skin Span:13 Chord:9 +PCOMP,2238, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2239 : Wing skin Span:14 Chord:9 +PCOMP,2239, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2240 : Wing skin Span:15 Chord:9 +PCOMP,2240, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2241 : Wing skin Span:16 Chord:9 +PCOMP,2241, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2242 : Wing skin Span:17 Chord:9 +PCOMP,2242, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2243 : Wing skin Span:18 Chord:9 +PCOMP,2243, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2244 : Wing skin Span:19 Chord:9 +PCOMP,2244, , ,82600.+3,TSAI, , , +,405,.50000-3,45.00000,YES,405,.10000-2,-45.0000,YES, +,405,.50000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2245 : Wing skin Span:20 Chord:9 +PCOMP,2245, , ,82600.+3,TSAI, , , +,405,.50000-3,45.00000,YES,405,.10000-2,-45.0000,YES, +,405,.50000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2246 : Wing skin Span:21 Chord:9 +PCOMP,2246, , ,82600.+3,TSAI, , , +,405,.50000-3,45.00000,YES,405,.10000-2,-45.0000,YES, +,405,.50000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2247 : Wing skin Span:22 Chord:9 +PCOMP,2247, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2248 : Wing skin Span:23 Chord:9 +PCOMP,2248, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2251 : Wing skin Span:1 Chord:10 +PCOMP,2251, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2252 : Wing skin Span:2 Chord:10 +PCOMP,2252, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2253 : Wing skin Span:3 Chord:10 +PCOMP,2253, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2254 : Wing skin Span:4 Chord:10 +PCOMP,2254, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2255 : Wing skin Span:5 Chord:10 +PCOMP,2255, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2256 : Wing skin Span:6 Chord:10 +PCOMP,2256, , ,82600.+3,TSAI, , , +,405,.10500-2,45.00000,YES,405,.21000-2,-45.0000,YES, +,405,.10500-2,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2257 : Wing skin Span:7 Chord:10 +PCOMP,2257, , ,82600.+3,TSAI, , , +,405,.95000-3,45.00000,YES,405,.19000-2,-45.0000,YES, +,405,.95000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2258 : Wing skin Span:8 Chord:10 +PCOMP,2258, , ,82600.+3,TSAI, , , +,405,.95000-3,45.00000,YES,405,.19000-2,-45.0000,YES, +,405,.95000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2259 : Wing skin Span:9 Chord:10 +PCOMP,2259, , ,82600.+3,TSAI, , , +,405,.95000-3,45.00000,YES,405,.19000-2,-45.0000,YES, +,405,.95000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2260 : Wing skin Span:10 Chord:10 +PCOMP,2260, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2261 : Wing skin Span:11 Chord:10 +PCOMP,2261, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2262 : Wing skin Span:12 Chord:10 +PCOMP,2262, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2263 : Wing skin Span:13 Chord:10 +PCOMP,2263, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2264 : Wing skin Span:14 Chord:10 +PCOMP,2264, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2265 : Wing skin Span:15 Chord:10 +PCOMP,2265, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2266 : Wing skin Span:16 Chord:10 +PCOMP,2266, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2267 : Wing skin Span:17 Chord:10 +PCOMP,2267, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2268 : Wing skin Span:18 Chord:10 +PCOMP,2268, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2269 : Wing skin Span:19 Chord:10 +PCOMP,2269, , ,82600.+3,TSAI, , , +,405,.50000-3,45.00000,YES,405,.10000-2,-45.0000,YES, +,405,.50000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2270 : Wing skin Span:20 Chord:10 +PCOMP,2270, , ,82600.+3,TSAI, , , +,405,.50000-3,45.00000,YES,405,.10000-2,-45.0000,YES, +,405,.50000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2271 : Wing skin Span:21 Chord:10 +PCOMP,2271, , ,82600.+3,TSAI, , , +,405,.50000-3,45.00000,YES,405,.10000-2,-45.0000,YES, +,405,.50000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2272 : Wing skin Span:22 Chord:10 +PCOMP,2272, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2273 : Wing skin Span:23 Chord:10 +PCOMP,2273, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.13600-2,0.000000,YES +$ Femap Property 2276 : Wing skin Span:1 Chord:11 +PCOMP,2276, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2277 : Wing skin Span:2 Chord:11 +PCOMP,2277, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2278 : Wing skin Span:3 Chord:11 +PCOMP,2278, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2279 : Wing skin Span:4 Chord:11 +PCOMP,2279, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2280 : Wing skin Span:5 Chord:11 +PCOMP,2280, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2281 : Wing skin Span:6 Chord:11 +PCOMP,2281, , ,82600.+3,TSAI, , , +,405,.10000-2,45.00000,YES,405,.20000-2,-45.0000,YES, +,405,.10000-2,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2282 : Wing skin Span:7 Chord:11 +PCOMP,2282, , ,82600.+3,TSAI, , , +,405,.90000-3,45.00000,YES,405,.18000-2,-45.0000,YES, +,405,.90000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2283 : Wing skin Span:8 Chord:11 +PCOMP,2283, , ,82600.+3,TSAI, , , +,405,.90000-3,45.00000,YES,405,.18000-2,-45.0000,YES, +,405,.90000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2284 : Wing skin Span:9 Chord:11 +PCOMP,2284, , ,82600.+3,TSAI, , , +,405,.90000-3,45.00000,YES,405,.18000-2,-45.0000,YES, +,405,.90000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2285 : Wing skin Span:10 Chord:11 +PCOMP,2285, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2286 : Wing skin Span:11 Chord:11 +PCOMP,2286, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2287 : Wing skin Span:12 Chord:11 +PCOMP,2287, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2288 : Wing skin Span:13 Chord:11 +PCOMP,2288, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2289 : Wing skin Span:14 Chord:11 +PCOMP,2289, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2290 : Wing skin Span:15 Chord:11 +PCOMP,2290, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2291 : Wing skin Span:16 Chord:11 +PCOMP,2291, , ,82600.+3,TSAI, , , +,405,.75000-3,45.00000,YES,405,.15000-2,-45.0000,YES, +,405,.75000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2292 : Wing skin Span:17 Chord:11 +PCOMP,2292, , ,82600.+3,TSAI, , , +,405,.75000-3,45.00000,YES,405,.15000-2,-45.0000,YES, +,405,.75000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2293 : Wing skin Span:18 Chord:11 +PCOMP,2293, , ,82600.+3,TSAI, , , +,405,.75000-3,45.00000,YES,405,.15000-2,-45.0000,YES, +,405,.75000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2294 : Wing skin Span:19 Chord:11 +PCOMP,2294, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2295 : Wing skin Span:20 Chord:11 +PCOMP,2295, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2296 : Wing skin Span:21 Chord:11 +PCOMP,2296, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2297 : Wing skin Span:22 Chord:11 +PCOMP,2297, , ,82600.+3,TSAI, , , +,405,.65000-3,45.00000,YES,405,.13000-2,-45.0000,YES, +,405,.65000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2298 : Wing skin Span:23 Chord:11 +PCOMP,2298, , ,82600.+3,TSAI, , , +,405,.65000-3,45.00000,YES,405,.13000-2,-45.0000,YES, +,405,.65000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2301 : Wing skin Span:1 Chord:12 +PCOMP,2301, , ,82600.+3,TSAI, , , +,405,.25000-3,45.00000,YES,405,.50000-3,-45.0000,YES, +,405,.25000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2302 : Wing skin Span:2 Chord:12 +PCOMP,2302, , ,82600.+3,TSAI, , , +,405,.25000-3,45.00000,YES,405,.50000-3,-45.0000,YES, +,405,.25000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2303 : Wing skin Span:3 Chord:12 +PCOMP,2303, , ,82600.+3,TSAI, , , +,405,.25000-3,45.00000,YES,405,.50000-3,-45.0000,YES, +,405,.25000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2304 : Wing skin Span:4 Chord:12 +PCOMP,2304, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2305 : Wing skin Span:5 Chord:12 +PCOMP,2305, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2306 : Wing skin Span:6 Chord:12 +PCOMP,2306, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2307 : Wing skin Span:7 Chord:12 +PCOMP,2307, , ,82600.+3,TSAI, , , +,405,.45000-3,45.00000,YES,405,.90000-3,-45.0000,YES, +,405,.45000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2308 : Wing skin Span:8 Chord:12 +PCOMP,2308, , ,82600.+3,TSAI, , , +,405,.45000-3,45.00000,YES,405,.90000-3,-45.0000,YES, +,405,.45000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2309 : Wing skin Span:9 Chord:12 +PCOMP,2309, , ,82600.+3,TSAI, , , +,405,.45000-3,45.00000,YES,405,.90000-3,-45.0000,YES, +,405,.45000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2310 : Wing skin Span:10 Chord:12 +PCOMP,2310, , ,82600.+3,TSAI, , , +,405,.55000-3,45.00000,YES,405,.11000-2,-45.0000,YES, +,405,.55000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2311 : Wing skin Span:11 Chord:12 +PCOMP,2311, , ,82600.+3,TSAI, , , +,405,.55000-3,45.00000,YES,405,.11000-2,-45.0000,YES, +,405,.55000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2312 : Wing skin Span:12 Chord:12 +PCOMP,2312, , ,82600.+3,TSAI, , , +,405,.55000-3,45.00000,YES,405,.11000-2,-45.0000,YES, +,405,.55000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2313 : Wing skin Span:13 Chord:12 +PCOMP,2313, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2314 : Wing skin Span:14 Chord:12 +PCOMP,2314, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2315 : Wing skin Span:15 Chord:12 +PCOMP,2315, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2316 : Wing skin Span:16 Chord:12 +PCOMP,2316, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2317 : Wing skin Span:17 Chord:12 +PCOMP,2317, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2318 : Wing skin Span:18 Chord:12 +PCOMP,2318, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2319 : Wing skin Span:19 Chord:12 +PCOMP,2319, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2320 : Wing skin Span:20 Chord:12 +PCOMP,2320, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2321 : Wing skin Span:21 Chord:12 +PCOMP,2321, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2322 : Wing skin Span:22 Chord:12 +PCOMP,2322, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2323 : Wing skin Span:23 Chord:12 +PCOMP,2323, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2326 : Wing skin Span:1 Chord:13 +PCOMP,2326, , ,82600.+3,TSAI, , , +,405,.25000-3,45.00000,YES,405,.50000-3,-45.0000,YES, +,405,.25000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2327 : Wing skin Span:2 Chord:13 +PCOMP,2327, , ,82600.+3,TSAI, , , +,405,.25000-3,45.00000,YES,405,.50000-3,-45.0000,YES, +,405,.25000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2328 : Wing skin Span:3 Chord:13 +PCOMP,2328, , ,82600.+3,TSAI, , , +,405,.25000-3,45.00000,YES,405,.50000-3,-45.0000,YES, +,405,.25000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2329 : Wing skin Span:4 Chord:13 +PCOMP,2329, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2330 : Wing skin Span:5 Chord:13 +PCOMP,2330, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2331 : Wing skin Span:6 Chord:13 +PCOMP,2331, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2332 : Wing skin Span:7 Chord:13 +PCOMP,2332, , ,82600.+3,TSAI, , , +,405,.45000-3,45.00000,YES,405,.90000-3,-45.0000,YES, +,405,.45000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2333 : Wing skin Span:8 Chord:13 +PCOMP,2333, , ,82600.+3,TSAI, , , +,405,.45000-3,45.00000,YES,405,.90000-3,-45.0000,YES, +,405,.45000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2334 : Wing skin Span:9 Chord:13 +PCOMP,2334, , ,82600.+3,TSAI, , , +,405,.45000-3,45.00000,YES,405,.90000-3,-45.0000,YES, +,405,.45000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2335 : Wing skin Span:10 Chord:13 +PCOMP,2335, , ,82600.+3,TSAI, , , +,405,.55000-3,45.00000,YES,405,.11000-2,-45.0000,YES, +,405,.55000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2336 : Wing skin Span:11 Chord:13 +PCOMP,2336, , ,82600.+3,TSAI, , , +,405,.55000-3,45.00000,YES,405,.11000-2,-45.0000,YES, +,405,.55000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2337 : Wing skin Span:12 Chord:13 +PCOMP,2337, , ,82600.+3,TSAI, , , +,405,.55000-3,45.00000,YES,405,.11000-2,-45.0000,YES, +,405,.55000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2338 : Wing skin Span:13 Chord:13 +PCOMP,2338, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2339 : Wing skin Span:14 Chord:13 +PCOMP,2339, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2340 : Wing skin Span:15 Chord:13 +PCOMP,2340, , ,82600.+3,TSAI, , , +,405,.60000-3,45.00000,YES,405,.12000-2,-45.0000,YES, +,405,.60000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2341 : Wing skin Span:16 Chord:13 +PCOMP,2341, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2342 : Wing skin Span:17 Chord:13 +PCOMP,2342, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2343 : Wing skin Span:18 Chord:13 +PCOMP,2343, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2344 : Wing skin Span:19 Chord:13 +PCOMP,2344, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2345 : Wing skin Span:20 Chord:13 +PCOMP,2345, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2346 : Wing skin Span:21 Chord:13 +PCOMP,2346, , ,82600.+3,TSAI, , , +,405,.80000-3,45.00000,YES,405,.16000-2,-45.0000,YES, +,405,.80000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2347 : Wing skin Span:22 Chord:13 +PCOMP,2347, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2348 : Wing skin Span:23 Chord:13 +PCOMP,2348, , ,82600.+3,TSAI, , , +,405,.85000-3,45.00000,YES,405,.17000-2,-45.0000,YES, +,405,.85000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2351 : Wing skin Span:1 Chord:14 +PCOMP,2351, , ,82600.+3,TSAI, , , +,405,.17500-2,45.00000,YES,405,.35000-2,-45.0000,YES, +,405,.17500-2,45.00000,YES,404,.85000-2,0.000000,YES +$ Femap Property 2352 : Wing skin Span:2 Chord:14 +PCOMP,2352, , ,82600.+3,TSAI, , , +,405,.17500-2,45.00000,YES,405,.35000-2,-45.0000,YES, +,405,.17500-2,45.00000,YES,404,.85000-2,0.000000,YES +$ Femap Property 2353 : Wing skin Span:3 Chord:14 +PCOMP,2353, , ,82600.+3,TSAI, , , +,405,.17500-2,45.00000,YES,405,.35000-2,-45.0000,YES, +,405,.17500-2,45.00000,YES,404,.85000-2,0.000000,YES +$ Femap Property 2354 : Wing skin Span:4 Chord:14 +PCOMP,2354, , ,82600.+3,TSAI, , , +,405,.17000-2,45.00000,YES,405,.34000-2,-45.0000,YES, +,405,.17000-2,45.00000,YES,404,.79900-2,0.000000,YES +$ Femap Property 2355 : Wing skin Span:5 Chord:14 +PCOMP,2355, , ,82600.+3,TSAI, , , +,405,.17000-2,45.00000,YES,405,.34000-2,-45.0000,YES, +,405,.17000-2,45.00000,YES,404,.79900-2,0.000000,YES +$ Femap Property 2356 : Wing skin Span:6 Chord:14 +PCOMP,2356, , ,82600.+3,TSAI, , , +,405,.17000-2,45.00000,YES,405,.34000-2,-45.0000,YES, +,405,.17000-2,45.00000,YES,404,.79900-2,0.000000,YES +$ Femap Property 2357 : Wing skin Span:7 Chord:14 +PCOMP,2357, , ,82600.+3,TSAI, , , +,405,.16500-2,45.00000,YES,405,.33000-2,-45.0000,YES, +,405,.16500-2,45.00000,YES,404,.74800-2,0.000000,YES +$ Femap Property 2358 : Wing skin Span:8 Chord:14 +PCOMP,2358, , ,82600.+3,TSAI, , , +,405,.16500-2,45.00000,YES,405,.33000-2,-45.0000,YES, +,405,.16500-2,45.00000,YES,404,.74800-2,0.000000,YES +$ Femap Property 2359 : Wing skin Span:9 Chord:14 +PCOMP,2359, , ,82600.+3,TSAI, , , +,405,.16500-2,45.00000,YES,405,.33000-2,-45.0000,YES, +,405,.16500-2,45.00000,YES,404,.74800-2,0.000000,YES +$ Femap Property 2360 : Wing skin Span:10 Chord:14 +PCOMP,2360, , ,82600.+3,TSAI, , , +,405,.16000-2,45.00000,YES,405,.32000-2,-45.0000,YES, +,405,.16000-2,45.00000,YES,404,.69700-2,0.000000,YES +$ Femap Property 2361 : Wing skin Span:11 Chord:14 +PCOMP,2361, , ,82600.+3,TSAI, , , +,405,.16000-2,45.00000,YES,405,.32000-2,-45.0000,YES, +,405,.16000-2,45.00000,YES,404,.69700-2,0.000000,YES +$ Femap Property 2362 : Wing skin Span:12 Chord:14 +PCOMP,2362, , ,82600.+3,TSAI, , , +,405,.16000-2,45.00000,YES,405,.32000-2,-45.0000,YES, +,405,.16000-2,45.00000,YES,404,.69700-2,0.000000,YES +$ Femap Property 2363 : Wing skin Span:13 Chord:14 +PCOMP,2363, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.62900-2,0.000000,YES +$ Femap Property 2364 : Wing skin Span:14 Chord:14 +PCOMP,2364, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.62900-2,0.000000,YES +$ Femap Property 2365 : Wing skin Span:15 Chord:14 +PCOMP,2365, , ,82600.+3,TSAI, , , +,405,.15500-2,45.00000,YES,405,.31000-2,-45.0000,YES, +,405,.15500-2,45.00000,YES,404,.62900-2,0.000000,YES +$ Femap Property 2366 : Wing skin Span:16 Chord:14 +PCOMP,2366, , ,82600.+3,TSAI, , , +,405,.15000-2,45.00000,YES,405,.30000-2,-45.0000,YES, +,405,.15000-2,45.00000,YES,404,.57800-2,0.000000,YES +$ Femap Property 2367 : Wing skin Span:17 Chord:14 +PCOMP,2367, , ,82600.+3,TSAI, , , +,405,.15000-2,45.00000,YES,405,.30000-2,-45.0000,YES, +,405,.15000-2,45.00000,YES,404,.57800-2,0.000000,YES +$ Femap Property 2368 : Wing skin Span:18 Chord:14 +PCOMP,2368, , ,82600.+3,TSAI, , , +,405,.15000-2,45.00000,YES,405,.30000-2,-45.0000,YES, +,405,.15000-2,45.00000,YES,404,.57800-2,0.000000,YES +$ Femap Property 2369 : Wing skin Span:19 Chord:14 +PCOMP,2369, , ,82600.+3,TSAI, , , +,405,.14500-2,45.00000,YES,405,.29000-2,-45.0000,YES, +,405,.14500-2,45.00000,YES,404,.52700-2,0.000000,YES +$ Femap Property 2370 : Wing skin Span:20 Chord:14 +PCOMP,2370, , ,82600.+3,TSAI, , , +,405,.14500-2,45.00000,YES,405,.29000-2,-45.0000,YES, +,405,.14500-2,45.00000,YES,404,.52700-2,0.000000,YES +$ Femap Property 2371 : Wing skin Span:21 Chord:14 +PCOMP,2371, , ,82600.+3,TSAI, , , +,405,.14500-2,45.00000,YES,405,.29000-2,-45.0000,YES, +,405,.14500-2,45.00000,YES,404,.52700-2,0.000000,YES +$ Femap Property 2372 : Wing skin Span:22 Chord:14 +PCOMP,2372, , ,82600.+3,TSAI, , , +,405,.14000-2,45.00000,YES,405,.28000-2,-45.0000,YES, +,405,.14000-2,45.00000,YES,404,.45900-2,0.000000,YES +$ Femap Property 2373 : Wing skin Span:23 Chord:14 +PCOMP,2373, , ,82600.+3,TSAI, , , +,405,.14000-2,45.00000,YES,405,.28000-2,-45.0000,YES, +,405,.14000-2,45.00000,YES,404,.45900-2,0.000000,YES +$ Femap Property 2376 : Wing skin Span:1 Chord:15 +PCOMP,2376, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2377 : Wing skin Span:2 Chord:15 +PCOMP,2377, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2378 : Wing skin Span:3 Chord:15 +PCOMP,2378, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2379 : Wing skin Span:4 Chord:15 +PCOMP,2379, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2380 : Wing skin Span:5 Chord:15 +PCOMP,2380, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2381 : Wing skin Span:6 Chord:15 +PCOMP,2381, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2382 : Wing skin Span:7 Chord:15 +PCOMP,2382, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2383 : Wing skin Span:8 Chord:15 +PCOMP,2383, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2384 : Wing skin Span:9 Chord:15 +PCOMP,2384, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2385 : Wing skin Span:10 Chord:15 +PCOMP,2385, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2386 : Wing skin Span:11 Chord:15 +PCOMP,2386, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2387 : Wing skin Span:12 Chord:15 +PCOMP,2387, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2388 : Wing skin Span:13 Chord:15 +PCOMP,2388, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2389 : Wing skin Span:14 Chord:15 +PCOMP,2389, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2390 : Wing skin Span:15 Chord:15 +PCOMP,2390, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2391 : Wing skin Span:16 Chord:15 +PCOMP,2391, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2392 : Wing skin Span:17 Chord:15 +PCOMP,2392, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2393 : Wing skin Span:18 Chord:15 +PCOMP,2393, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2394 : Wing skin Span:19 Chord:15 +PCOMP,2394, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2395 : Wing skin Span:20 Chord:15 +PCOMP,2395, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2396 : Wing skin Span:21 Chord:15 +PCOMP,2396, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2397 : Wing skin Span:22 Chord:15 +PCOMP,2397, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2398 : Wing skin Span:23 Chord:15 +PCOMP,2398, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2401 : Wing skin Span:1 Chord:16 +PCOMP,2401, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2402 : Wing skin Span:2 Chord:16 +PCOMP,2402, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2403 : Wing skin Span:3 Chord:16 +PCOMP,2403, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2404 : Wing skin Span:4 Chord:16 +PCOMP,2404, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2405 : Wing skin Span:5 Chord:16 +PCOMP,2405, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2406 : Wing skin Span:6 Chord:16 +PCOMP,2406, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2407 : Wing skin Span:7 Chord:16 +PCOMP,2407, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2408 : Wing skin Span:8 Chord:16 +PCOMP,2408, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2409 : Wing skin Span:9 Chord:16 +PCOMP,2409, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2410 : Wing skin Span:10 Chord:16 +PCOMP,2410, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2411 : Wing skin Span:11 Chord:16 +PCOMP,2411, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2412 : Wing skin Span:12 Chord:16 +PCOMP,2412, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2413 : Wing skin Span:13 Chord:16 +PCOMP,2413, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2414 : Wing skin Span:14 Chord:16 +PCOMP,2414, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2415 : Wing skin Span:15 Chord:16 +PCOMP,2415, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2416 : Wing skin Span:16 Chord:16 +PCOMP,2416, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2417 : Wing skin Span:17 Chord:16 +PCOMP,2417, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2418 : Wing skin Span:18 Chord:16 +PCOMP,2418, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2419 : Wing skin Span:19 Chord:16 +PCOMP,2419, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2420 : Wing skin Span:20 Chord:16 +PCOMP,2420, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2421 : Wing skin Span:21 Chord:16 +PCOMP,2421, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2422 : Wing skin Span:22 Chord:16 +PCOMP,2422, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2423 : Wing skin Span:23 Chord:16 +PCOMP,2423, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2426 : Wing skin Span:1 Chord:17 +PCOMP,2426, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2427 : Wing skin Span:2 Chord:17 +PCOMP,2427, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2428 : Wing skin Span:3 Chord:17 +PCOMP,2428, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2429 : Wing skin Span:4 Chord:17 +PCOMP,2429, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2430 : Wing skin Span:5 Chord:17 +PCOMP,2430, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2431 : Wing skin Span:6 Chord:17 +PCOMP,2431, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2432 : Wing skin Span:7 Chord:17 +PCOMP,2432, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2433 : Wing skin Span:8 Chord:17 +PCOMP,2433, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2434 : Wing skin Span:9 Chord:17 +PCOMP,2434, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2435 : Wing skin Span:10 Chord:17 +PCOMP,2435, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2436 : Wing skin Span:11 Chord:17 +PCOMP,2436, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2437 : Wing skin Span:12 Chord:17 +PCOMP,2437, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2438 : Wing skin Span:13 Chord:17 +PCOMP,2438, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2439 : Wing skin Span:14 Chord:17 +PCOMP,2439, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2440 : Wing skin Span:15 Chord:17 +PCOMP,2440, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2441 : Wing skin Span:16 Chord:17 +PCOMP,2441, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2442 : Wing skin Span:17 Chord:17 +PCOMP,2442, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2443 : Wing skin Span:18 Chord:17 +PCOMP,2443, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2444 : Wing skin Span:19 Chord:17 +PCOMP,2444, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2445 : Wing skin Span:20 Chord:17 +PCOMP,2445, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2446 : Wing skin Span:21 Chord:17 +PCOMP,2446, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2447 : Wing skin Span:22 Chord:17 +PCOMP,2447, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2448 : Wing skin Span:23 Chord:17 +PCOMP,2448, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2451 : Wing skin Span:1 Chord:18 +PCOMP,2451, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2452 : Wing skin Span:2 Chord:18 +PCOMP,2452, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2453 : Wing skin Span:3 Chord:18 +PCOMP,2453, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2454 : Wing skin Span:4 Chord:18 +PCOMP,2454, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2455 : Wing skin Span:5 Chord:18 +PCOMP,2455, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2456 : Wing skin Span:6 Chord:18 +PCOMP,2456, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2457 : Wing skin Span:7 Chord:18 +PCOMP,2457, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2458 : Wing skin Span:8 Chord:18 +PCOMP,2458, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2459 : Wing skin Span:9 Chord:18 +PCOMP,2459, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2460 : Wing skin Span:10 Chord:18 +PCOMP,2460, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2461 : Wing skin Span:11 Chord:18 +PCOMP,2461, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2462 : Wing skin Span:12 Chord:18 +PCOMP,2462, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2463 : Wing skin Span:13 Chord:18 +PCOMP,2463, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2464 : Wing skin Span:14 Chord:18 +PCOMP,2464, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2465 : Wing skin Span:15 Chord:18 +PCOMP,2465, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2466 : Wing skin Span:16 Chord:18 +PCOMP,2466, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2467 : Wing skin Span:17 Chord:18 +PCOMP,2467, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2468 : Wing skin Span:18 Chord:18 +PCOMP,2468, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2469 : Wing skin Span:19 Chord:18 +PCOMP,2469, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2470 : Wing skin Span:20 Chord:18 +PCOMP,2470, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2471 : Wing skin Span:21 Chord:18 +PCOMP,2471, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2472 : Wing skin Span:22 Chord:18 +PCOMP,2472, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2473 : Wing skin Span:23 Chord:18 +PCOMP,2473, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2476 : Wing skin Span:1 Chord:19 +PCOMP,2476, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2477 : Wing skin Span:2 Chord:19 +PCOMP,2477, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2478 : Wing skin Span:3 Chord:19 +PCOMP,2478, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2479 : Wing skin Span:4 Chord:19 +PCOMP,2479, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2480 : Wing skin Span:5 Chord:19 +PCOMP,2480, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2481 : Wing skin Span:6 Chord:19 +PCOMP,2481, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2482 : Wing skin Span:7 Chord:19 +PCOMP,2482, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2483 : Wing skin Span:8 Chord:19 +PCOMP,2483, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2484 : Wing skin Span:9 Chord:19 +PCOMP,2484, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2485 : Wing skin Span:10 Chord:19 +PCOMP,2485, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2486 : Wing skin Span:11 Chord:19 +PCOMP,2486, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2487 : Wing skin Span:12 Chord:19 +PCOMP,2487, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2488 : Wing skin Span:13 Chord:19 +PCOMP,2488, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2489 : Wing skin Span:14 Chord:19 +PCOMP,2489, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2490 : Wing skin Span:15 Chord:19 +PCOMP,2490, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2491 : Wing skin Span:16 Chord:19 +PCOMP,2491, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2492 : Wing skin Span:17 Chord:19 +PCOMP,2492, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2493 : Wing skin Span:18 Chord:19 +PCOMP,2493, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2494 : Wing skin Span:19 Chord:19 +PCOMP,2494, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2495 : Wing skin Span:20 Chord:19 +PCOMP,2495, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2496 : Wing skin Span:21 Chord:19 +PCOMP,2496, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2497 : Wing skin Span:22 Chord:19 +PCOMP,2497, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2498 : Wing skin Span:23 Chord:19 +PCOMP,2498, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2501 : Wing skin Span:1 Chord:20 +PCOMP,2501, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2502 : Wing skin Span:2 Chord:20 +PCOMP,2502, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2503 : Wing skin Span:3 Chord:20 +PCOMP,2503, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.85000-3,0.000000,YES +$ Femap Property 2504 : Wing skin Span:4 Chord:20 +PCOMP,2504, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2505 : Wing skin Span:5 Chord:20 +PCOMP,2505, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2506 : Wing skin Span:6 Chord:20 +PCOMP,2506, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2507 : Wing skin Span:7 Chord:20 +PCOMP,2507, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2508 : Wing skin Span:8 Chord:20 +PCOMP,2508, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2509 : Wing skin Span:9 Chord:20 +PCOMP,2509, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2510 : Wing skin Span:10 Chord:20 +PCOMP,2510, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2511 : Wing skin Span:11 Chord:20 +PCOMP,2511, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2512 : Wing skin Span:12 Chord:20 +PCOMP,2512, , ,82600.+3,TSAI, , , +,405,.40000-3,45.00000,YES,405,.80000-3,-45.0000,YES, +,405,.40000-3,45.00000,YES,404,.10200-2,0.000000,YES +$ Femap Property 2513 : Wing skin Span:13 Chord:20 +PCOMP,2513, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2514 : Wing skin Span:14 Chord:20 +PCOMP,2514, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2515 : Wing skin Span:15 Chord:20 +PCOMP,2515, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2516 : Wing skin Span:16 Chord:20 +PCOMP,2516, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2517 : Wing skin Span:17 Chord:20 +PCOMP,2517, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2518 : Wing skin Span:18 Chord:20 +PCOMP,2518, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2519 : Wing skin Span:19 Chord:20 +PCOMP,2519, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2520 : Wing skin Span:20 Chord:20 +PCOMP,2520, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2521 : Wing skin Span:21 Chord:20 +PCOMP,2521, , ,82600.+3,TSAI, , , +,405,.35000-3,45.00000,YES,405,.70000-3,-45.0000,YES, +,405,.35000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2522 : Wing skin Span:22 Chord:20 +PCOMP,2522, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 2523 : Wing skin Span:23 Chord:20 +PCOMP,2523, , ,82600.+3,TSAI, , , +,405,.30000-3,45.00000,YES,405,.60000-3,-45.0000,YES, +,405,.30000-3,45.00000,YES,404,.11900-2,0.000000,YES +$ Femap Property 4002 : Wing rib:2 +PCOMP,4002, , ,82600.+3,TSAI, , , +,405,.16000-2,45.00000,YES,405,.32000-2,-45.0000,YES, +,405,.16000-2,45.00000,YES +$ Femap Property 4003 : Wing rib:3 +PCOMP,4003, , ,82600.+3,TSAI, , , +,405,.16000-2,45.00000,YES,405,.32000-2,-45.0000,YES, +,405,.16000-2,45.00000,YES +$ Femap Property 4004 : Wing rib:4 +PCOMP,4004, , ,82600.+3,TSAI, , , +,405,.16000-2,45.00000,YES,405,.32000-2,-45.0000,YES, +,405,.16000-2,45.00000,YES +$ Femap Property 4005 : Wing rib:5 +PCOMP,4005, , ,82600.+3,TSAI, , , +,405,.16000-2,45.00000,YES,405,.32000-2,-45.0000,YES, +,405,.16000-2,45.00000,YES +$ Femap Property 4006 : Wing rib:6 +PCOMP,4006, , ,82600.+3,TSAI, , , +,405,.15550-2,45.00000,YES,405,.31100-2,-45.0000,YES, +,405,.15550-2,45.00000,YES +$ Femap Property 4007 : Wing rib:7 +PCOMP,4007, , ,82600.+3,TSAI, , , +,405,.15100-2,45.00000,YES,405,.30200-2,-45.0000,YES, +,405,.15100-2,45.00000,YES +$ Femap Property 4008 : Wing rib:8 +PCOMP,4008, , ,82600.+3,TSAI, , , +,405,.14650-2,45.00000,YES,405,.29300-2,-45.0000,YES, +,405,.14650-2,45.00000,YES +$ Femap Property 4009 : Wing rib:9 +PCOMP,4009, , ,82600.+3,TSAI, , , +,405,.14200-2,45.00000,YES,405,.28400-2,-45.0000,YES, +,405,.14200-2,45.00000,YES +$ Femap Property 4010 : Wing rib:10 +PCOMP,4010, , ,82600.+3,TSAI, , , +,405,.13750-2,45.00000,YES,405,.27500-2,-45.0000,YES, +,405,.13750-2,45.00000,YES +$ Femap Property 4011 : Wing rib:11 +PCOMP,4011, , ,82600.+3,TSAI, , , +,405,.13300-2,45.00000,YES,405,.26600-2,-45.0000,YES, +,405,.13300-2,45.00000,YES +$ Femap Property 4012 : Wing rib:12 +PCOMP,4012, , ,82600.+3,TSAI, , , +,405,.12850-2,45.00000,YES,405,.25700-2,-45.0000,YES, +,405,.12850-2,45.00000,YES +$ Femap Property 4013 : Wing rib:13 +PCOMP,4013, , ,82600.+3,TSAI, , , +,405,.12400-2,45.00000,YES,405,.24800-2,-45.0000,YES, +,405,.12400-2,45.00000,YES +$ Femap Property 4014 : Wing rib:14 +PCOMP,4014, , ,82600.+3,TSAI, , , +,405,.11950-2,45.00000,YES,405,.23900-2,-45.0000,YES, +,405,.11950-2,45.00000,YES +$ Femap Property 4015 : Wing rib:15 +PCOMP,4015, , ,82600.+3,TSAI, , , +,405,.11500-2,45.00000,YES,405,.23000-2,-45.0000,YES, +,405,.11500-2,45.00000,YES +$ Femap Property 4016 : Wing rib:16 +PCOMP,4016, , ,82600.+3,TSAI, , , +,405,.11050-2,45.00000,YES,405,.22100-2,-45.0000,YES, +,405,.11050-2,45.00000,YES +$ Femap Property 4017 : Wing rib:17 +PCOMP,4017, , ,82600.+3,TSAI, , , +,405,.10600-2,45.00000,YES,405,.21200-2,-45.0000,YES, +,405,.10600-2,45.00000,YES +$ Femap Property 4018 : Wing rib:18 +PCOMP,4018, , ,82600.+3,TSAI, , , +,405,.10150-2,45.00000,YES,405,.20300-2,-45.0000,YES, +,405,.10150-2,45.00000,YES +$ Femap Property 4019 : Wing rib:19 +PCOMP,4019, , ,82600.+3,TSAI, , , +,405,.97000-3,45.00000,YES,405,.19400-2,-45.0000,YES, +,405,.97000-3,45.00000,YES +$ Femap Property 4020 : Wing rib:20 +PCOMP,4020, , ,82600.+3,TSAI, , , +,405,.92500-3,45.00000,YES,405,.18500-2,-45.0000,YES, +,405,.92500-3,45.00000,YES +$ Femap Property 4021 : Wing rib:21 +PCOMP,4021, , ,82600.+3,TSAI, , , +,405,.88000-3,45.00000,YES,405,.17600-2,-45.0000,YES, +,405,.88000-3,45.00000,YES +$ Femap Property 4022 : Wing rib:22 +PCOMP,4022, , ,82600.+3,TSAI, , , +,405,.83500-3,45.00000,YES,405,.16700-2,-45.0000,YES, +,405,.83500-3,45.00000,YES +$ Femap Property 4023 : Wing rib:23 +PCOMP,4023, , ,82600.+3,TSAI, , , +,405,.79000-3,45.00000,YES,405,.15800-2,-45.0000,YES, +,405,.79000-3,45.00000,YES +$ Femap Property 4024 : Wing rib:24 +PCOMP,4024, , ,82600.+3,TSAI, , , +,405,.74500-3,45.00000,YES,405,.14900-2,-45.0000,YES, +,405,.74500-3,45.00000,YES +$ Femap Property 4025 : Wing rib:25 +PCOMP,4025, , ,82600.+3,TSAI, , , +,405,.70000-3,45.00000,YES,405,.14000-2,-45.0000,YES, +,405,.70000-3,45.00000,YES +ENDDATA diff --git a/Pointmass_eom_v1_0.slx b/Pointmass_eom_v1_0.slx deleted file mode 100644 index a4c95be..0000000 Binary files a/Pointmass_eom_v1_0.slx and /dev/null differ diff --git a/README.md b/README.md index fb5909b..21c02c9 100644 --- a/README.md +++ b/README.md @@ -1,49 +1,50 @@ -# MegAWES (vw=12 ms-1) +# MegAWES (3DoF & 6DoF kite dynamics) -[![Version](https://img.shields.io/github/v/release/awegroup/MegAWES?label=Latest%20release&sort=semver)](https://github.com/awegroup/MegAWES/releases) -[![Matlab](https://img.shields.io/badge/Matlab%20Simulink-2020A-brightgreen)](https://www.mathworks.com/products/simulink) -[![Matlab](https://img.shields.io/badge/Matlab%20Simulink-2018B-yellow)](https://www.mathworks.com/products/simulink) +[![Version](https://img.shields.io/github/v/release/awegroup/MegAWES?label=Latest%20release)](https://github.com/awegroup/MegAWES/releases) +[![Matlab19B](https://img.shields.io/static/v1?label=Matlab%20Simulink&message=2019B&color=brightgreen)](https://www.mathworks.com/products/simulink) [![License](https://img.shields.io/github/license/awegroup/MegAWES?label=License)](http://www.apache.org/licenses/) + ![Aircraft](DE2019_Aircraft.jpeg) -MegAWES is a Matlab/Simulink model of an airborne wind energy (AWE) system based on a tethered rigid wing that is operated in pumping cycles producing more than a megawatt of electricity evaluated at 12 meter per second ground wind speed (6m height). The framework is a further development of the graduation project of Dylan Eijkelhof which was jointly supervised by TU Delft, ETH Zurich and DTU [[1,2]](#References). The ultimate purpose is to provide a reference model of a megawatt-range AWE system and a computational framework to simulate its operation. The simulink framework includes the following model components: +MWAWES is a Matlab/Simulink model of an airborne wind enrgy (AWE) system based on a tethered rigid wing that is operated in pumping cycles producing multiple megawatt of electricity. The framework is a further development of the graduation project of Dylan Eijkelhof which was jointly supervised by TU Delft, ETH Zurich and DTU [[1,2]](#References). The ultimate purpose is to provide a reference model of a megawatt-range AWE system and a computational framework to simulate its operation. The simulink framework includes the following model components: * Pre-calculated look-up tables for aircraft's aerodynamic behaviour. * Segmented tether with a single attachment point at the kite's centre of gravity. -* 3DOF point mass dynamic solver. -* Aircraft controller with initiation phase and power generation flight controls. +* Choice between 3DoF point-mass and 6DoF rigid-body dynamic solver. +* Aircraft controller for power generation flight controls and path tracking. * Set-force controlled dynamic winch (based on [[3]](#References)). ## Getting Started -These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system. +These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. ### Prerequisites What things you need to run the software and how to install them. -1. Install Matlab R2020A, Simulink R2020a and some extra packages (for instructions how te get matlab, click [here](https://www.mathworks.com/products/get-matlab.html)): +1. Install Matlab/Simulink R2019B and some extra packages (for instructions how te get matlab, click [here](https://www.mathworks.com/products/get-matlab.html)): ``` - Matlab (version R2020A, 9.8 tested on macOS 10.15.7) - Simulink (version R2020A, 10.1 tested on macOS 10.15.7) - Stateflow (version 10.2 tested on macOS 10.15.7) + Matlab (version R2019B, 9.7) + Simulink (version R2019B, 10.0) + Curve Fitting Toolbox (version 3.5.10, only needed for 6DoF) + Stateflow (version 10.1) + DSP System Toolbox (version 9.9, only needed for tether test cases) ``` - -### Installing - -A step by step series of examples that tell you how to get a development env running - -1. Install git LFS if you do not have it installed, detailed instructions can be found [here](https://github.com/git-lfs/git-lfs/wiki/Installation): +2. Install Git and Git-lfs (for instructions how te get git and git-lfs, click [here](https://git-scm.com/book/en/v2/Getting-Started-Installing-Git) for git and [here](https://docs.github.com/en/github/managing-large-files/installing-git-large-file-storage) for git-lfs). Without git-lfs the libraries might not clone properly (note: other methods might also work). +3. After installation of git-lfs run the following command in a terminal (Unix, MacOS)/command(Windows) window: ``` git lfs install ``` -1. Get a copy of the latest `MegAWES` environment release: +### Installing + +1. Do not forget to check if the [previously mentioned software](#Prerequisites) is installed. +2. Get a copy of the latest `MegAWES` environment release: ``` git clone https://github.com/awegroup/MegAWES.git @@ -51,40 +52,59 @@ A step by step series of examples that tell you how to get a development env run ## Deployment +A step by step series of examples that tell you how to get a development env running, tested on macOS 11.2.3 + 1. The following file allows you to run a full simulation until power cycle convergence of the current aircraft. ``` Run_OneSimulation.m ``` + + Two important parameters are set here: + + ``` + Kite_DOF: Kite degrees of freedom, 3 (point-mass) or 6 (rigid-body) + windspeed: Maximum wind speed of the wind shear profile, occurs at 250m altitude and above, + 3DoF: Always forced to 22m/s + 6DoF: 8m/s, 10m/s, 14m/s, 16m/s, 18m/s, 20m/s, 22m/s, 25m/s, 28m/s, 30m/s + ``` 2. All input variables are set in: ``` - initAllSimParams_DE2019.m + Get_simulation_params.m ``` - Following parameters are set: - 1. Aircraft is loaded from the `DE2019_params.mat` file. - 2. Environment parameters - 3. Steady base windspeed, 6m altitude (no turbulence is included at this stage). - 4. Simulation initialisation parameters - 5. Simulation constraints - 6. Tether characteristics - 7. Winch characteristics - 8. Flight path shape - 9. Tether force set-point (tracking) - 10. Controller gains - 11. Initialisation phase, loiter - -3. In the simulink model, the output parameters are defined in block: + where base variables are set in: + + ``` + initAllSimParams_DE2019.m + ``` + + Following parameters are set: + 1. Aircraft is loaded from the `DE2019_params.mat` file. + 2. Environment parameters + 3. Steady base windspeed, 6m altitude (no turbulence is included at this stage). + 4. Simulation initialisation parameters + 5. Simulation constraints + 6. Tether characteristics + 7. Winch characteristics + 8. Flight path shape + 9. Tether force set-point (tracking) + 10. Controller gains + 11. Initialisation phase (loiter) + +3. In the simulink models for both 3 and 6 DoF, the output parameters are defined in block: ``` RequirementModelsAndLogging ``` -An example of the visualisation of the output is given in the main file `Run_OneSimulation.m` at the bottom. -There the continuous power throughout the cycle is plotted, and a visual of the flight path is plotted in a 3D environment with colour coding the power production. + An example of the visualisation of the output is given in the main file `Run_OneSimulation.m` at the bottom. + There the continuous power throughout the cycle is plotted, and a visual of the flight path is plotted in a 3D environment with colour coding the power production. + + Also an example is provided on how to visualise the converged power pumping cycle as an animation. -Also an example is provided on how to visualise the converged power pumping cycle as an animation. +4. Required libraries are found in the `Lib` folder and the source code can be found in the `Src` folder which are divided up between code required for 3DoF, 6DoF or both simulations. A more detailed description of the files and folders is given in [File structure & Description](#file-structure-and-descriptions). Rapp [4] gives a more detailed explanation of the controller strategy and reference frames used throughout this framework. ## Built With @@ -97,15 +117,15 @@ Please read [CONTRIBUTING.md](https://gist.github.com/PurpleBooth/b24679402957c6 ## Versioning -For the versions available, see the [tags on this repository](https://github.com/awegroup/MegAWES/tags). +For the versions available, see the [tags on this repository](https://github.com/awegroup/MWAWES/tags). ## Authors -* **Dylan Eijkelhof** - *Initial work current system, multi-MW aircraft* - [GitHub](https://github.com/DylanEij) +* **Dylan Eijkelhof** - *Initial work current system design, multi-MW aircraft* - [GitHub](https://github.com/DylanEij) * **Urban Fasel** - *Initial framework set-up* * **Sebastian Rapp** - *Flight controller design* - [GitHub](https://github.com/sebrap) -See also the list of [contributors](https://github.com/awegroup/MegAWES/graphs/contributors) who participated in this project. +See also the list of [contributors](https://github.com/awegroup/MWAWES/graphs/contributors) who participated in this project. ## License @@ -118,6 +138,12 @@ This project is licensed under the Apache License - see the [LICENSE](LICENSE.md [3] Fechner, Uwe, et al. "Dynamic model of a pumping kite power system." Renewable Energy 83 (2015): 705-716. [doi:10.1016/j.renene.2015.04.028](http://dx.doi.org/10.1016/j.renene.2015.04.028) +[4] Rapp, S. "Robust Automatic Pumping Cycle Operation of Airborne Wind Energy Systems." PhD Thesis. Delft University of Technology, 2021. [doi:10.4233/uuid:ab2adf33-ef5d-413c-b403-2cfb4f9b6bae](https://doi.org/10.4233/uuid:ab2adf33-ef5d-413c-b403-2cfb4f9b6bae) + +[5] M. L. Loyd, Crosswind kite power (for large-scale wind power production),Journal of Energy 4 (1980) 106–111. [doi:10.2514/3.48021](http://dx.doi.org/10.2514/3.48021) + +[6] S. Costello, C. Costello, G. Franc ̧ois, D. Bonvin, Analysis of the maximumefficiency of kite-power systems, Journal of renewable and sustainableenergy 7 (2015) 053108. [doi:10.1063/1.4931111](http://dx.doi.org/10.1063/1.4931111) + ## Acknowledgments * Outstanding guidance of Roland Schmehl (TU Delft) and Mac Gaunaa (DTU wind energy). @@ -127,4 +153,4 @@ This project is licensed under the Apache License - see the [LICENSE](LICENSE.md * Cla Mattia Galliard * Lorenz Affentranger * Gian Joerimann - * Michael Imobersteg + * Michael Imobersteg \ No newline at end of file diff --git a/Run_All_6DOF_Windspeeds.m b/Run_All_6DOF_Windspeeds.m new file mode 100644 index 0000000..4263b57 --- /dev/null +++ b/Run_All_6DOF_Windspeeds.m @@ -0,0 +1,52 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +%% Startup/Set cache folder +addpath(['Src' filesep 'Common']) +PreSim_startup(); +clearvars % Clear workspace +close all % Close all figure windows +clc % Clear command window + +%% Set variables +Kite_DOF = 6; % Kite degrees of freedom + +try %#ok +c = parcluster('local'); +c.NumWorkers = 8; % Number of available cores +parpool(c, c.NumWorkers); +end + +%% Set variables +windspeeds = [8 10 14 16 18 20 22 25 28 30]; +for i = 1:numel(windspeeds) + [act, base_windspeed, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = ... + Get_simulation_params(windspeeds(i),Kite_DOF); + simInP = initAllStructs('Dyn_6DoF_v2_0_r2019b', base_windspeed, ... + constr, ENVMT, Lbooth, loiterStates, DE2019, simInit, T, ... + winchParameter,params,act); + simIn(i) = simInP; +end + +simOut = parsim(simIn); + +for j = 1:numel(simOut) + P_mech_last_cycle = extractSignalOfLastCycle2(simOut(j).P_mech, ... + simOut(j).cycle_signal_counter, simInit); + Average_power(j) = mean(P_mech_last_cycle.Data); +% disp([num2str(vw) ' m/s done!']) +end +save('out_power_all.mat','Average_power','windspeeds') +% save('out_power_all.mat','Average_power','windspeeds', 'simOut') %Large output \ No newline at end of file diff --git a/Run_All_Tether_Testcases.m b/Run_All_Tether_Testcases.m new file mode 100644 index 0000000..8b96d75 --- /dev/null +++ b/Run_All_Tether_Testcases.m @@ -0,0 +1,79 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +%% Startup/Set cache folder +addpath(['Src' filesep 'Common']) +PreSim_startup(); +clearvars % Clear workspace +close all % Close all figure windows +clc % Clear command window + +addpath(genpath('Additional_tests')) % Add needed simulation files to the path +status = []; + +%% Run each test consecutively +% - Drag catenary curve test: Comparison to a rotated hanging cable, +% catenary curve (Drag only) +% - Tether pull free-rotation winch test: Pulling tether up with prescribed +% force, comparing to analytical tether length at force balance +% (gravity only) +% - Tether gravitational fall test: Test whether tether falls at +% gravitational constant (gravity only) +% - Tether catenary curve test: Comparison to hanging cable at 2 different +% altitudes, catenary curve +% (gravity only) + +if 1 +disp(' ') +disp('Drag catenary curve test:') +disp(' ') +tic +status = [status, Run_drag_curve()]; +toc +end + +if 1 +disp(' ') +disp(' ') +disp('Tether pull free-rotation winch test (could take approx 3 min.):') +disp(' ') +tic +status = [status, Run_tether_pull()]; +toc +end + +if 1 +disp(' ') +disp(' ') +disp('Tether gravitational fall test:') +disp(' ') +tic +status = [status, Run_tether_fall2()]; +toc +end + +if 1 +disp(' ') +disp(' ') +disp('Tether catenary curve test:') +disp(' ') +tic +status = [status, Run_catenary_curve()]; +toc +end +if all(status==1) + disp(' ') + disp(' ') + disp('All tests successful!!!') +end \ No newline at end of file diff --git a/Run_OneSimulation.m b/Run_OneSimulation.m index 406e94e..0ae08c5 100644 --- a/Run_OneSimulation.m +++ b/Run_OneSimulation.m @@ -1,85 +1,110 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -%% Startup/Set cache folder -PreSim_startup(); -clearvars % Clear workspace -close all % Close all figure windows -clc % Clear command window - -%% Set variables -[base_windspeed, constr, ENVMT, Lbooth, ... - loiterStates, DE2019, simInit, T, winchParameter,params] = initAllSimParams_DE2019(); - -%% Run simulation untill power convergence -simout = sim('Pointmass_eom_v1_0.slx','ReturnWorkspaceOutputs','on'); %Matlab Simulink R2020a - -% simout = sim('Pointmass_eom_v1_0_R2018B.slx','ReturnWorkspaceOutputs','on'); %Matlab Simulink R2018b - -%% Results -if simout.power_conv_flag - P_mech_last_cycle = extractSignalOfLastCycle2(simout.P_mech, ... - simout.cycle_signal_counter, simInit); - Path_last_cycle = extractSignalOfLastCycle3D(simout.pos_O, ... - simout.cycle_signal_counter, simInit ); - Average_power = mean(P_mech_last_cycle.Data); - Ft_last_cycle = extractSignalOfLastCycle2(simout.TetherForce, ... - simout.cycle_signal_counter, simInit); - if 0 - close all - Offline_visualisation_power(P_mech_last_cycle,Path_last_cycle); %#ok<*UNRCH> - LastcycleData_plot(Ft_last_cycle,'Tether force [N]','Cycle time [s]') - end -end - -%% Animate Flightpath - -if 0 %1 to activate - addpath(genpath('Extra')) - P_mech_last_cycle = extractSignalOfLastCycle2(simout.P_mech, ... - simout.cycle_signal_counter, simInit); %#ok<*UNRCH> - Path_last_cycle = extractSignalOfLastCycle3D(simout.pos_O, ... - simout.cycle_signal_counter, simInit ); - EulAng_last_cycle = extractSignalOfLastCycle_nD(simout.Eul_ang, ... - simout.cycle_signal_counter, simInit ); - Tether_last_cycle_x = extractSignalOfLastCycle_nD(simout.Tether_x, ... - simout.cycle_signal_counter, simInit ); - Tether_last_cycle_y = extractSignalOfLastCycle_nD(simout.Tether_y, ... - simout.cycle_signal_counter, simInit ); - Tether_last_cycle_z = extractSignalOfLastCycle_nD(simout.Tether_z, ... - simout.cycle_signal_counter, simInit ); - -% filename = 'FileName.mp4'; % Create animation video, write to file - filename = []; % Create figure to play animation - Duration = 60; - fps = 30; - filename = animate_flightpath_torque(filename,P_mech_last_cycle,... - Path_last_cycle,EulAng_last_cycle,Tether_last_cycle_x,... - Tether_last_cycle_y,Tether_last_cycle_z,ENVMT,Duration,fps); - if ~isempty(filename) - movefile(filename,['Extra' filesep filename]) - end - rmpath(genpath('Extra')) -end -% use the command: "playAnimation" (without quotes) to play the animation - -%% Update previous version -% If changes are made, update older version files for compatibility -% this includes all model reference files, if any. - -% addpath(genpath('Extra')) -% exportToPreviousVersion('Pointmass_eom_v1_0.slx','R2018B') -% movefile('Pointmass_eom_v1_0_R2018B.slx',... -% ['Extra' filesep 'Pointmass_eom_v1_0_R2018B.slx']) -% rmpath(genpath('Extra')) \ No newline at end of file +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +%% Startup/Set cache folder +addpath(['Src' filesep 'Common']) +PreSim_startup(); +clearvars % Clear workspace +close all % Close all figure windows +clc % Clear command window + +%% Set variables + +Kite_DOF = 6; % Kite degrees of freedom: 3 (point-mass) or 6 (rigid-body) +% 3DoF: Forced to 22m/s +% 6DoF: 8m/s 10m/s 14m/s 16m/s 18m/s 20m/s 22m/s 25m/s 28m/s 30m/s +windspeed = 22; + +[act, base_windspeed, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = ... + Get_simulation_params(windspeed, Kite_DOF); + +%% Run simulation untill average pumping cycle power convergence +if Kite_DOF==6 + simOut = sim('Dyn_6DoF_v2_0_r2019b.slx',... + 'SrcWorkspace', 'current'); %Matlab Simulink R2019b + + % simOut = sim('Dyn_6DoF_v2_0_R2015B.slx',... + % 'SrcWorkspace', 'current'); %Matlab Simulink R2018b +elseif Kite_DOF==3 + simOut = sim('Dyn_PointMass_r2019b.slx',... + 'SrcWorkspace', 'current'); %Matlab Simulink R2019b + + % simOut = sim('Dyn_PointMass_R2015B.slx',... + % 'SrcWorkspace', 'current'); %Matlab Simulink R2018b +else + error('Wong number of Degrees of Freedom entered') +end + +disp(['Total elapsed walltime is: ',... + num2str(simOut.SimulationMetadata.TimingInfo.TotalElapsedWallTime),... + ' seconds']) + +%% Results visualisation, figures, video or animation object(matlab figure) +if simOut.power_conv_flag + %% Power and flight path for last pumping cycle + P_mech_last_cycle = extractSignalOfLastCycle2(simOut.P_mech, ... + simOut.cycle_signal_counter, simInit); + Path_last_cycle = extractSignalOfLastCycle_nD(simOut.pos_O, ... + simOut.cycle_signal_counter, simInit ); + Average_power = mean(P_mech_last_cycle.Data); + + if 1 + close all + [fig_PO, fig_flightpower] = Offline_visualisation_power(... + P_mech_last_cycle,Path_last_cycle); %#ok<*UNRCH> + end + + %% Theoretical check: + % Loyd peak power + % Costello et al. (2015) restrictive average power + + if 1 + try %#ok + if ishandle(fig_PO) + fig_PO = Theoretical_Pcheck(simOut,constr,ENVMT,DE2019,simInit,T,params,fig_PO); + end + end + end + + %% Animate Flightpath (Video) + + if 0 %1 to activate + %%% !!!Create animation video, write to file +% filename = [num2str(Average_power/1e6,3) 'MW_6DOF_2.mp4']; + + %%% !!!Create figure to only play the animation + filename = []; + + Video_from_simOut(filename, simOut,simInit,ENVMT,DE2019) + end + + % Wait for 'done' in the command window before trying to play the animation + % use the command: "playAnimation" (without quotes) to play the animation +else + warning('Simulation did not converge') +end + +%% Update previous version +% If changes are made, update older version files for compatibility +% this includes all model reference files, if any. +% Older versions are never tested, thus compatibility is not guaranteed + +% simFileName = 'Dyn_PointMass_r2019b'; +% % simFileName = 'Dyn_6DoF_v2_0_r2019b'; +% simTargetVersion = 'R2015B'; +% exportToPreviousVersion([simFileName, '.slx'],simTargetVersion) +% [filepath,~,~] = fileparts(which([simFileName, '.slx'])); +% movefile([simFileName(1:end-7), '_', simTargetVersion, '.slx'],... +% [filepath, filesep, simFileName(1:end-7), '_', simTargetVersion, '.slx']) \ No newline at end of file diff --git a/Src/3DoF/Simulink/Dyn_PointMass_R2015B.slx b/Src/3DoF/Simulink/Dyn_PointMass_R2015B.slx new file mode 100644 index 0000000..aa95181 Binary files /dev/null and b/Src/3DoF/Simulink/Dyn_PointMass_R2015B.slx differ diff --git a/Src/3DoF/Simulink/Dyn_PointMass_r2019b.slx b/Src/3DoF/Simulink/Dyn_PointMass_r2019b.slx new file mode 100644 index 0000000..49aa6b5 Binary files /dev/null and b/Src/3DoF/Simulink/Dyn_PointMass_r2019b.slx differ diff --git a/Src/6DoF/Actuator/Actuatormodel_R2019B.slx b/Src/6DoF/Actuator/Actuatormodel_R2019B.slx new file mode 100644 index 0000000..283d34f Binary files /dev/null and b/Src/6DoF/Actuator/Actuatormodel_R2019B.slx differ diff --git a/Src/6DoF/Simulink/Dyn_6DoF_v2_0_R2015B.slx b/Src/6DoF/Simulink/Dyn_6DoF_v2_0_R2015B.slx new file mode 100644 index 0000000..8e475cf Binary files /dev/null and b/Src/6DoF/Simulink/Dyn_6DoF_v2_0_R2015B.slx differ diff --git a/Src/6DoF/Simulink/Dyn_6DoF_v2_0_r2019b.slx b/Src/6DoF/Simulink/Dyn_6DoF_v2_0_r2019b.slx new file mode 100644 index 0000000..43b91e2 Binary files /dev/null and b/Src/6DoF/Simulink/Dyn_6DoF_v2_0_r2019b.slx differ diff --git a/Src/Common/Environment/Environment.slx b/Src/Common/Environment/Environment.slx new file mode 100644 index 0000000..293dccc Binary files /dev/null and b/Src/Common/Environment/Environment.slx differ diff --git a/Src/Common/FlightController/AirspeedController.slx b/Src/Common/FlightController/AirspeedController.slx new file mode 100644 index 0000000..bbbb5ed Binary files /dev/null and b/Src/Common/FlightController/AirspeedController.slx differ diff --git a/Src/Common/FlightController/PathFollowingController.slx b/Src/Common/FlightController/PathFollowingController.slx new file mode 100644 index 0000000..f699f14 Binary files /dev/null and b/Src/Common/FlightController/PathFollowingController.slx differ diff --git a/Src/simFiles/Flightpaths/boothLem/doNewtonIterationBooth2.m b/Src/Common/Flightpaths/boothLem/doNewtonIterationBooth2.m similarity index 64% rename from Src/simFiles/Flightpaths/boothLem/doNewtonIterationBooth2.m rename to Src/Common/Flightpaths/boothLem/doNewtonIterationBooth2.m index 4c8d572..7abdf83 100644 --- a/Src/simFiles/Flightpaths/boothLem/doNewtonIterationBooth2.m +++ b/Src/Common/Flightpaths/boothLem/doNewtonIterationBooth2.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,6 +13,22 @@ % limitations under the License. function [s_new,exceedMaxIter] = doNewtonIterationBooth2(s_old,Lem, pos_W, direction) +% This function performs a newton iteration to find the closest point on the Lissajous figure from the kite position. +% +% :param s_old: Old Lissajous path parameter s (0≤s≤2π) +% :param Lem: Lissajous figure dimension parameter structure. +% :param pos_W: Position of the kite in wind reference frame. +% :param direction: Flight direction on Lissajous. +% :returns: +% - **s_new** - New Lissajous path parameter s (0≤s≤2π). +% - **exceedMaxIter** - Returns 1 when maximum number of iterations (10) is exceeded. +% +% | Other m-files required: getBoothInfos2.m +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp pos_W = pos_W/norm(pos_W); res = 1; diff --git a/Src/simFiles/Flightpaths/boothLem/getBoothInfos2.m b/Src/Common/Flightpaths/boothLem/getBoothInfos2.m similarity index 71% rename from Src/simFiles/Flightpaths/boothLem/getBoothInfos2.m rename to Src/Common/Flightpaths/boothLem/getBoothInfos2.m index 1e2566d..6ce7ec4 100644 --- a/Src/simFiles/Flightpaths/boothLem/getBoothInfos2.m +++ b/Src/Common/Flightpaths/boothLem/getBoothInfos2.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,9 +13,25 @@ % limitations under the License. function [t,DtDs,L, dLds,q] = getBoothInfos2(s_old,Lbooth, direction) +% Calculate the tangent at path position s_old and its derivative. +% +% :param s_old: Old Lissajous path parameter s (0≤s≤2π) +% :param Lbooth: Lissajous figure dimension parameter structure. +% :param direction: Flight direction on Lissajous. +% :returns: +% - **t** - Tangent. +% - **DtDs** - Derivative of the tangent with respect to the position on the Lissajous figure. +% - **L** - Lemniscate of Booth +% - **dLds** - Derivative of the Lemniscate with respect to the position on the Lissajous figure. +% - **q** - Path in cartesian coordinates in the wind reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp -% calculate the tangent at the solution and its derivative -% -1: down in the middle a = Lbooth.a; b = Lbooth.b; L = [ b * sin(s_old) ./( 1+(a/b*cos(s_old)).^2 ); diff --git a/Src/simFiles/Flightpaths/boothLem/getPointOnBooth.m b/Src/Common/Flightpaths/boothLem/getPointOnBooth.m similarity index 56% rename from Src/simFiles/Flightpaths/boothLem/getPointOnBooth.m rename to Src/Common/Flightpaths/boothLem/getPointOnBooth.m index 6ef1dda..d80d397 100644 --- a/Src/simFiles/Flightpaths/boothLem/getPointOnBooth.m +++ b/Src/Common/Flightpaths/boothLem/getPointOnBooth.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,6 +13,24 @@ % limitations under the License. function point_W = getPointOnBooth( a, b, phi, l_tether, s ) +% Calculate the tangent at path position s_old and its derivative. +% +% :param s_old: Old Lissajous path parameter s (0≤s≤2π) +% :param Lbooth: Lissajous figure dimension parameter structure. +% :param direction: Flight direction on Lissajous. +% :returns: +% - **t** - Tangent. +% - **DtDs** - Derivative of the tangent with respect to the position on the Lissajous figure. +% - **L** - Lemniscate of Booth +% - **dLds** - Derivative of the Lemniscate with respect to the position on the Lissajous figure. +% - **q** - Path in cartesian coordinates in the wind reference frame. +% +% | Other m-files required: updateBoothLemniscate.m +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp Lbooth.b = b; Lbooth.a =b*a; diff --git a/Src/simFiles/Flightpaths/boothLem/getTargetOnBoothNewton2.m b/Src/Common/Flightpaths/boothLem/getTargetOnBoothNewton2.m similarity index 56% rename from Src/simFiles/Flightpaths/boothLem/getTargetOnBoothNewton2.m rename to Src/Common/Flightpaths/boothLem/getTargetOnBoothNewton2.m index 8fbeb67..0fe10e8 100644 --- a/Src/simFiles/Flightpaths/boothLem/getTargetOnBoothNewton2.m +++ b/Src/Common/Flightpaths/boothLem/getTargetOnBoothNewton2.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,13 +13,28 @@ % limitations under the License. function [ sol,p_C_W] = getTargetOnBoothNewton2(Lem, p_kite_W, c0, l_tether, direction) +% This function calculates the closest point on the Lissajous figure from the kite position by means of newton iterations. +% +% :param Lem: Lissajous figure dimension parameter structure. +% :param p_kite_W: Kite position in wind reference frame. +% :param c0: Old Lissajous path parameter s (0≤s≤2π). +% :param l_tether: Current tether length. +% :param direction: Flight direction on Lissajous. +% :returns: +% - **sol** - New Lissajous path parameter s (0≤s≤2π). +% - **p_C_W** - Closest position on Lissajous figure in wind reference frame. +% +% | Other m-files required: doNewtonIterationBooth2.m +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp p_kite_W = p_kite_W/norm(p_kite_W); [sol, ~] = doNewtonIterationBooth2(c0,Lem, p_kite_W, direction); -sol = sol + direction*0*pi/180; - long = Lem.b * sin(sol) ./( 1+(Lem.a/Lem.b*cos(sol)).^2 ); lat = Lem.a * sin(sol).*cos(sol) ./ ( 1+(Lem.a/Lem.b*cos(sol)).^2 ) ; L = [long;lat]; diff --git a/Src/simFiles/Flightpaths/boothLem/updateBoothLemniscate.m b/Src/Common/Flightpaths/boothLem/updateBoothLemniscate.m similarity index 61% rename from Src/simFiles/Flightpaths/boothLem/updateBoothLemniscate.m rename to Src/Common/Flightpaths/boothLem/updateBoothLemniscate.m index 472d250..8317ac8 100644 --- a/Src/simFiles/Flightpaths/boothLem/updateBoothLemniscate.m +++ b/Src/Common/Flightpaths/boothLem/updateBoothLemniscate.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,6 +13,19 @@ % limitations under the License. function [Lem] = updateBoothLemniscate(l_tether,Lbooth) +% This function scales the Lissajous figure by tether length +% +% :param l_tether: Current tether length. +% :param Lbooth: Lissajous figure dimension parameter structure. +% :returns: +% - **Lem** - Scaled Lissajous figure dimension parameter structure. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp Lem.a = Lbooth.a/(l_tether); Lem.b = Lbooth.b/(l_tether); diff --git a/Src/simFiles/Flightpaths/calcCourse2ClosestPoint.m b/Src/Common/Flightpaths/calcCourse2ClosestPoint.m similarity index 77% rename from Src/simFiles/Flightpaths/calcCourse2ClosestPoint.m rename to Src/Common/Flightpaths/calcCourse2ClosestPoint.m index ddbb63d..bc72511 100644 --- a/Src/simFiles/Flightpaths/calcCourse2ClosestPoint.m +++ b/Src/Common/Flightpaths/calcCourse2ClosestPoint.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,14 +13,23 @@ % limitations under the License. function [ chi_K_des, bearing_vec_W, bearing_sign ] = calcCourse2ClosestPoint( p_VT_W, p_kite_W ) -% This function return the desired course in the tangential plane. -%================== Function Description ================================ -% Version: 1.0 -% Author: Sebastian Rapp -% Last Update: 28.08.2017 -% Inputs: position of the kite and the virtual target -% Output: the desired course and the vector pointing to the desired point -%======================================================================== +% This function returns the desired course in the tangential plane. +% +% :param p_VT_W: An instance of this class. +% :param p_kite_W: position of the kite in wind reference frame. +% :returns: +% - **chi_K_des** - the desired course +% - **bearing_vec_W** - vector pointing to the desired point +% - **bearing_sign** - vector sign +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Revision: 28.08.2017 +% :Author: Sebastian Rapp + bearing_sign = 0; p_kite_W = p_kite_W/norm(p_kite_W); p_VT_W = p_VT_W/norm(p_VT_W); diff --git a/Src/simFiles/Flightpaths/calculateCommandedCourse2.m b/Src/Common/Flightpaths/calculateCommandedCourse2.m similarity index 89% rename from Src/simFiles/Flightpaths/calculateCommandedCourse2.m rename to Src/Common/Flightpaths/calculateCommandedCourse2.m index 36e764c..540863d 100644 --- a/Src/simFiles/Flightpaths/calculateCommandedCourse2.m +++ b/Src/Common/Flightpaths/calculateCommandedCourse2.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,11 +13,19 @@ % limitations under the License. function [Chi_cmd,Delta_chi,theta, Delta_chi_dot, deltaDot1] = calculateCommandedCourse2(t,delta_vec, delta, delta0, chi_parallel, L_sol, pos_W, v_w_vec, chi_tau_is) - +% This function returns the desired course +% % check sign with curve frame - y component is negative in this frame - % delta Chi is positive and vice versa. % add a predictive part to smooth highly curved paths. -% basis: +% +% | Other m-files required: wrapCourseError.m +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp + e1 = t/norm(t); e3 = -L_sol/norm(L_sol); e2 = cross(e3, e1); diff --git a/Src/simFiles/Flightpaths/doRodriguesRotation.m b/Src/Common/Flightpaths/doRodriguesRotation.m similarity index 65% rename from Src/simFiles/Flightpaths/doRodriguesRotation.m rename to Src/Common/Flightpaths/doRodriguesRotation.m index 75aa946..899b1a3 100644 --- a/Src/simFiles/Flightpaths/doRodriguesRotation.m +++ b/Src/Common/Flightpaths/doRodriguesRotation.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,6 +13,20 @@ % limitations under the License. function vrot = doRodriguesRotation(pos_W, p_target_W, v) +% This function performs the Rodrigues Rotation on a vector +% +% :param pos_W: Kite position, used to define plane of rotation +% :param p_target_W: Target position, used to define plane of rotation +% :param v: Vector to rotate +% :returns: +% - **vrot** - Rotated vector +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp theta = acos( max( min( pos_W'*p_target_W / norm(pos_W) / norm( p_target_W ), 1),-1) ); k = cross( p_target_W, pos_W ); diff --git a/Src/simFiles/Flightpaths/getChiDotGammaDotOK.m b/Src/Common/Flightpaths/getChiDotGammaDotOK.m similarity index 56% rename from Src/simFiles/Flightpaths/getChiDotGammaDotOK.m rename to Src/Common/Flightpaths/getChiDotGammaDotOK.m index 36f77ba..2159430 100644 --- a/Src/simFiles/Flightpaths/getChiDotGammaDotOK.m +++ b/Src/Common/Flightpaths/getChiDotGammaDotOK.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -12,7 +12,33 @@ % See the License for the specific language governing permissions and % limitations under the License. -function [chi_dot, gamma_dot] = getChiDotGammaDotOK(windDirection_rad,lat,long, v_k_W, chi_tau_dot, r, chi_k, gamma_k, v_ideal, pos_W, gamma_tau,gamma_tau_dot) +function [chi_dot, gamma_dot] = getChiDotGammaDotOK(windDirection_rad,lat,... + long, v_k_W, chi_tau_dot, r, chi_k, gamma_k, v_ideal, pos_W, gamma_tau,gamma_tau_dot) +% This function returns the time derivative of the course and path angles +% +% :param windDirection_rad: Angle between the wind reference frame and the inertial reference frame around the z-axis. +% :param lat: Latitude position of the kite. +% :param long: Longtitude position of the kite. +% :param v_k_W: Kite velocity in wind reference frame. +% :param chi_tau_dot: Time derivative of the course angle in the tangential plane. +% :param r: Distance between kite and ground station. +% :param chi_k: Course angle in kinetic reference frame. +% :param gamma_k: Path angle in kinetic reference frame. +% :param v_ideal: Total kinetic velocity in wind reference frame. +% :param pos_W: Position of the kite in wind reference frame. +% :param gamma_tau: Path angle in the tangential plane. +% :param gamma_tau_dot: Time derivative of the path angle in the tangential plane. +% :returns: +% - **chi_dot** - Course rate +% - **gamma_dot** - Path rate +% +% | Other m-files required: transformFromWtoO.m, transformFromWtoTau.m +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Revision: 28.08.2017 +% :Author: Sebastian Rapp v_k_W = v_k_W / norm(pos_W); diff --git a/Src/simFiles/Flightpaths/predictChiDotRequ.m b/Src/Common/Flightpaths/predictChiDotRequ.m similarity index 70% rename from Src/simFiles/Flightpaths/predictChiDotRequ.m rename to Src/Common/Flightpaths/predictChiDotRequ.m index 0eee898..4ba81b8 100644 --- a/Src/simFiles/Flightpaths/predictChiDotRequ.m +++ b/Src/Common/Flightpaths/predictChiDotRequ.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,8 +13,26 @@ % limitations under the License. function [chi_tau_dot] = predictChiDotRequ(long,lat,v_w_vec, pos_W,p_C_W, t, DtDs,chi_parallel ) -% This function calculates the course rate in the tangential plane based -% on the path curvature +% This function calculates the course rate in the tangential plane based on the path curvature +% +% :param long: Longtitude position of the kite. +% :param lat: Latitude position of the kite. +% :param v_w_vec: Kite velocity in wind reference frame. +% :param pos_W: Position of the kite in wind reference frame. +% :param p_C_W: Closest position on Lissajous figure. +% :param t: Tangent at p_C_W. +% :param DtDs: Derivative of the tangent with respect to the position on the Lissajous figure. +% :param chi_parallel: Required course angle to reach p_C_W. +% :returns: +% - **chi_tau_dot** - Required course rate in the tangential plane +% +% | Other m-files required: transformFromWtoTau.m, doRodriguesRotation.m +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp + v_w_tau = transformFromWtoTau( long, lat, v_w_vec); ex = [-sin(lat)*cos(long); diff --git a/Src/simFiles/Flightpaths/transformFromAbar2B.m b/Src/Common/Flightpaths/transformFromAbar2B.m similarity index 66% rename from Src/simFiles/Flightpaths/transformFromAbar2B.m rename to Src/Common/Flightpaths/transformFromAbar2B.m index e8372f5..e5b43a8 100644 --- a/Src/simFiles/Flightpaths/transformFromAbar2B.m +++ b/Src/Common/Flightpaths/transformFromAbar2B.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,6 +13,21 @@ % limitations under the License. function vec_B = transformFromAbar2B( mu_a, alpha, beta, vec_Abar ) +% This function transforms a vector between rotated aerodynamic reference frame and body reference frame. +% +% :param mu_a: Roll angle. +% :param alpha: Pitch angle (Angle of Attack). +% :param beta: Yaw angle. +% :param vec_Abar: Vector in rotated aerodynamic reference frame. +% :returns: +% - **vec_B** - Vector in body reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp c_m = cos(mu_a); s_m = sin(mu_a); diff --git a/Src/simFiles/Flightpaths/transformFromAbartoO.m b/Src/Common/Flightpaths/transformFromAbartoO.m similarity index 67% rename from Src/simFiles/Flightpaths/transformFromAbartoO.m rename to Src/Common/Flightpaths/transformFromAbartoO.m index a2a3cef..a58c6ca 100644 --- a/Src/simFiles/Flightpaths/transformFromAbartoO.m +++ b/Src/Common/Flightpaths/transformFromAbartoO.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,6 +13,20 @@ % limitations under the License. function vec_O = transformFromAbartoO( chi_a,gamma_a, vec_Abar ) +% This function transforms a vector between rotated aerodynamic reference frame and inertial reference frame. +% +% :param chi_a: Course angle. +% :param gamma_a: Path angle. +% :param vec_Abar: Vector in rotated aerodynamic reference frame. +% :returns: +% - **vec_O** - Vector in inertial reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp c_chia = cos(chi_a); s_chia = sin(chi_a); diff --git a/Src/simFiles/Flightpaths/transformFromAtoB.m b/Src/Common/Flightpaths/transformFromAtoB.m similarity index 66% rename from Src/simFiles/Flightpaths/transformFromAtoB.m rename to Src/Common/Flightpaths/transformFromAtoB.m index 450d22a..e328c35 100644 --- a/Src/simFiles/Flightpaths/transformFromAtoB.m +++ b/Src/Common/Flightpaths/transformFromAtoB.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,7 +13,20 @@ % limitations under the License. function vec_B = transformFromAtoB( alpha, beta, vec_A ) - +% This function transforms a vector between aerodynamic reference frame and body reference frame. +% +% :param alpha: Pitch angle. +% :param beta: Yaw angle. +% :param vec_A: Vector in aerodynamic reference frame. +% :returns: +% - **vec_B** - Vector in body reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp c_a = cos(alpha); s_a = sin(alpha); diff --git a/Src/simFiles/Flightpaths/transformFromBtoA.m b/Src/Common/Flightpaths/transformFromBtoA.m similarity index 66% rename from Src/simFiles/Flightpaths/transformFromBtoA.m rename to Src/Common/Flightpaths/transformFromBtoA.m index 2049ee6..ebc0a8e 100644 --- a/Src/simFiles/Flightpaths/transformFromBtoA.m +++ b/Src/Common/Flightpaths/transformFromBtoA.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,7 +13,20 @@ % limitations under the License. function vec_A = transformFromBtoA( alpha, beta, vec_B ) - +% This function transforms a vector between body reference frame and aerodynamic reference frame. +% +% :param alpha: Pitch angle. +% :param beta: Yaw angle. +% :param vec_B: Vector in body reference frame. +% :returns: +% - **vec_A** - Vector in aerodynamic reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp c_a = cos(alpha); s_a = sin(alpha); diff --git a/Src/simFiles/Flightpaths/transformFromBtoAbar.m b/Src/Common/Flightpaths/transformFromBtoAbar.m similarity index 67% rename from Src/simFiles/Flightpaths/transformFromBtoAbar.m rename to Src/Common/Flightpaths/transformFromBtoAbar.m index 5ad5006..2fdc52e 100644 --- a/Src/simFiles/Flightpaths/transformFromBtoAbar.m +++ b/Src/Common/Flightpaths/transformFromBtoAbar.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,6 +13,21 @@ % limitations under the License. function vec_Abar = transformFromBtoAbar( mu_a, alpha, beta, vec_B ) +% This function transforms a vector between body reference frame and aerodynamic reference frame. +% +% :param mu_a: Roll angle. +% :param alpha: Pitch angle. +% :param beta: Yaw angle. +% :param vec_B: Vector in body reference frame. +% :returns: +% - **vec_Abar** - Vector in rotated aerodynamic reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp c_m = cos(mu_a); s_m = sin(mu_a); diff --git a/Src/simFiles/Flightpaths/transformFromOtoAbar.m b/Src/Common/Flightpaths/transformFromOtoAbar.m similarity index 67% rename from Src/simFiles/Flightpaths/transformFromOtoAbar.m rename to Src/Common/Flightpaths/transformFromOtoAbar.m index a59333a..779f309 100644 --- a/Src/simFiles/Flightpaths/transformFromOtoAbar.m +++ b/Src/Common/Flightpaths/transformFromOtoAbar.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,6 +13,20 @@ % limitations under the License. function vec_Abar = transformFromOtoAbar( chi_a,gamma_a, vec_O ) +% This function transforms a vector between inertial reference frame and rotated aerodynamic reference frame. +% +% :param chi_a: Course angle. +% :param gamma_a: Path angle. +% :param vec_O: Vector in inertial reference frame. +% :returns: +% - **vec_Abar** - Vector in rotated aerodynamic reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp c_chia = cos(chi_a); s_chia = sin(chi_a); diff --git a/Src/Common/Flightpaths/transformFromOtoW.m b/Src/Common/Flightpaths/transformFromOtoW.m new file mode 100644 index 0000000..f4c880b --- /dev/null +++ b/Src/Common/Flightpaths/transformFromOtoW.m @@ -0,0 +1,38 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function [vec_W] = transformFromOtoW(windDirection_rad,vec_O) +% This function transforms a vector between inertial reference frame and wind reference frame. +% +% :param windDirection_rad: Angle between the wind reference frame and the inertial reference frame around the z-axis. +% :param vec_O: Vector in inertial reference frame. +% :returns: +% - **vec_W** - Vector in wind reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp +% +% .. note:: Axis system is not only rotated around the z-axis but also also flipped upside down. :math:`Z_W = -Z_O`. + +M_WO = [cos(windDirection_rad), sin(windDirection_rad), 0; + sin(windDirection_rad), -cos(windDirection_rad), 0; + 0, 0, -1]; + +vec_W = M_WO*vec_O; + +end diff --git a/Src/Common/Flightpaths/transformFromTautoW.m b/Src/Common/Flightpaths/transformFromTautoW.m new file mode 100644 index 0000000..78a32d8 --- /dev/null +++ b/Src/Common/Flightpaths/transformFromTautoW.m @@ -0,0 +1,36 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function vec_W = transformFromTautoW( long,lat, vec_tau ) +% This function transforms a vector in the tangential plane to the wind reference frame. +% +% :param long: Longtitude position of the kite. +% :param lat: Latitude position of the kite. +% :param vec_tau: Vector in the tangential plane. +% :returns: +% - **vec_W** - Vector in wind reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp + +M_Wtau = [-sin(lat)*cos(long),-sin(long),-cos(lat)*cos(long); + -sin(lat)*sin(long), cos(long), -cos(lat)*sin(long); + cos(lat), 0, -sin(lat)]; + + +vec_W = M_Wtau * vec_tau; \ No newline at end of file diff --git a/Src/Common/Flightpaths/transformFromWtoO.m b/Src/Common/Flightpaths/transformFromWtoO.m new file mode 100644 index 0000000..4448773 --- /dev/null +++ b/Src/Common/Flightpaths/transformFromWtoO.m @@ -0,0 +1,38 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function [vec_O] = transformFromWtoO(windDirection_rad,vec_W) +% This function transforms a vector between wind reference frame and inertial reference frame. +% +% :param windDirection_rad: Angle between the wind reference frame and the inertial reference frame around the z-axis. +% :param vec_W: Vector in wind reference frame. +% :returns: +% - **vec_O** - Vector in inertial reference frame. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp +% +% .. note:: Axis system is not only rotated around the z-axis but also also flipped upside down. :math:`Z_O = -Z_W`. + +M_OW = [cos(windDirection_rad), sin(windDirection_rad), 0; + sin(windDirection_rad), -cos(windDirection_rad), 0; + 0, 0, -1]; + +vec_O = M_OW*vec_W; + +end diff --git a/Src/Common/Flightpaths/transformFromWtoTau.m b/Src/Common/Flightpaths/transformFromWtoTau.m new file mode 100644 index 0000000..0a4bfb9 --- /dev/null +++ b/Src/Common/Flightpaths/transformFromWtoTau.m @@ -0,0 +1,36 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function vec_tau = transformFromWtoTau( long,lat, vec_W ) +% This function transforms a vector in the wind reference frame to the tangential plane. +% +% :param long: Longtitude position of the kite. +% :param lat: Latitude position of the kite. +% :param vec_W: Vector in wind reference frame. +% :returns: +% - **vec_tau** - Vector in the tangential plane. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp + +M_tauW = [-sin(lat)*cos(long), -sin(lat)*sin(long), cos(lat); + -sin(long), cos(long), 0; + -cos(lat)*cos(long), -cos(lat)*sin(long), -sin(lat)]; + +vec_tau = M_tauW * vec_W; +end \ No newline at end of file diff --git a/Src/simFiles/Flightpaths/wrapCourseError.m b/Src/Common/Flightpaths/wrapCourseError.m similarity index 74% rename from Src/simFiles/Flightpaths/wrapCourseError.m rename to Src/Common/Flightpaths/wrapCourseError.m index 8c7ea46..f05859e 100644 --- a/Src/simFiles/Flightpaths/wrapCourseError.m +++ b/Src/Common/Flightpaths/wrapCourseError.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,9 +13,17 @@ % limitations under the License. function e_course = wrapCourseError(chi_ref, chi) -%#codegen -% The vectors are lying in the tangential plane attached to the current -% position on the small earth. +% Wrapping of course angle error +% +% The vectors are laying in the tangential plane attached to the current position on the small earth. +% +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none +% +% :Version: 1.0 +% :Author: Sebastian Rapp + p_bearing_vec = [cos(chi); sin(chi); 0]; ref_bearing_vec = [cos(chi_ref); sin(chi_ref); 0]; @@ -29,3 +37,4 @@ dot_product = -1; end e_course = - sign( e_z(3) ) * acos( dot_product ); +end diff --git a/Src/Common/Get_simulation_params.m b/Src/Common/Get_simulation_params.m new file mode 100644 index 0000000..5fd01be --- /dev/null +++ b/Src/Common/Get_simulation_params.m @@ -0,0 +1,308 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function [act, base_windspeed, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = ... + Get_simulation_params(windspeed,Kite_DOF) +%Initialise simulation parameters for the complete system and set optimised parameters +% +% :param windspeed: Wind speed at which the parameters should be read +% :param Kite_DOF: Degrees of freedom of the kite (3 or 6) +% +% :returns: +% - **act** - Actuator, aileron elevator and rudder data +% - **base_windspeed** - Wind speed at max altitude where speed stays constant +% - **constr** - Aircraft manoeuvre and winch constraints +% - **ENVMT** - Environmental parameters +% - **Lbooth** - Flight path parameters +% - **loiterStates** - Initial loiter parameters (power cycle initialisation) +% - **DE2019** - Aircraft parameters +% - **simInit** - Simulation initialisation parameters +% - **T** - Tether dimensions and material properties +% - **winchParameter** - Winch dynamic parameters +% - **params** - Flight/Winch controller parameters +% +% Example: +% | [act, base_windspeed, constr, DE2019, ENVMT, Lbooth, ... +% | loiterStates, params, simInit, T, winchParameter] = ... +% | get_simulation_params(22, 6) +% +% | Other m-files required: initAllSimParams_DE2019.m +% | Subfunctions: None +% | MAT-files required: None +% +% :Revision: 17-March-2021 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + +%------------- BEGIN CODE -------------- + + vw = windspeed; + + if Kite_DOF == 3 + % Point mass assumption + [act, ~, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = ... + initAllSimParams_DE2019(Kite_DOF); + base_windspeed = 22; + if vw ~= 22 + warning('Maximum wind speed is forced to be 22 m/s at 250m altitude') + end + + params.b_booth=353.551; + params.l_tether_min=0.5121; + params.initial_path_elevation=42.8742; + params.w0_decrease_init_phi0=0.0891721; + params.F_t_traction_set=1.54462e+06; + params.F_t_retraction_set=0.396714; + loiterStates.Ft_set_loiter=1.16544e+06; + params.ft_smooth_2=0.1; + params.Kp_chi_k_traction=0.92397; + params.Kp_gamma_k_traction=3.29257; + params.Kp_chi_retraction=4; + params.Kp_gamma_retraction=0.8434; + params.Kp_chi_loiter=4; + params.Kp_mu=0.971239; + params.Kp_alpha=0.2; + params.kp_winch=1.14655; + params.ki_winch=0.132527; + params.Kp_brake=0.132448; + params.Ki_brake=0; + params.w0_chi_retraction_max=0.653226; + params.w0_gamma_retraction_max=0.281603; + params.w0_mu=7.6271; + params.w0_alpha=3.56748; + + elseif Kite_DOF == 6 + % Initiate base (windspeed = 22) + [act, ~, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = ... + initAllSimParams_DE2019(Kite_DOF); + if vw == 8 + params.a_booth=1.19621; + params.b_booth=330.043; + params.l_tether_max=800; + params.l_tether_min=0.4; + params.w0_decrease_init_phi0 =0.107208; + params.F_t_traction_set=795583; + params.F_t_retraction_set=0.389683; + loiterStates.Ft_set_loiter=998947; + params.ft_smooth_2=0.001; + params.Kp_chi_k_traction=0.7; + params.Kp_gamma_k_traction =3; + params.Kp_chi_retraction=0.4; + params.Kp_gamma_retraction=0.97332; + params.Kp_chi_loiter =2.44077; + params.Kp_mu=0.198574; + params.Kp_alpha=0.418098; + params.Kp_p=15; + params.Kp_q=15; + params.Kp_r=6.2059; + params.kp_winch=0.1; + params.ki_winch=0.000921097; + params.Kp_brake =0.33023; + params.Ki_brake =0.979256; + params.w0_chi_retraction_max=0.293705; + params.w0_gamma_retraction_max=0.01; + params.w0_p_max=5.68673; + params.w0_q_max=5.76659; + params.w0_r_max=1; + params.arc1 =3.1; + elseif vw == 10 + params.F_t_traction_set=332982; + params.F_t_retraction_set=0.129398; + params.ft_smooth_2=0.0927201; + params.Kp_chi_k_traction=0.1; + params.Kp_gamma_k_traction =2.19367; + params.Kp_chi_retraction=0.297941; + params.Kp_gamma_retraction=0.640821; + params.Kp_alpha=0.2; + params.Kp_p=0.1; + params.Kp_q=6.93726; + params.Kp_r=0.1; + params.kp_winch=1.07825; + params.Kp_brake =0.400744; + params.Ki_brake =0; + params.w0_gamma_retraction_max=0.434576; + params.w0_p_max=6.24261; + params.w0_q_max=5.39955; + params.w0_r_max=1; + elseif vw == 14 + params.a_booth=1.38794; + params.w0_decrease_init_phi0 =0.005; + params.F_t_traction_set=1.59831e+06; + params.F_t_retraction_set=0.172843; + params.ft_smooth_2=0.00307376; + params.Kp_chi_k_traction=2.27749; + params.Kp_gamma_k_traction =4; + params.Kp_chi_retraction=0.005; + params.Kp_gamma_retraction=0.105381; + params.Kp_alpha=0.2; + params.Kp_p=0.364097; + params.Kp_q=9.09094; + params.kp_winch=0.1; + params.Kp_brake =0.0257332; + params.Ki_brake =1.5; + params.w0_p_max=15; + params.w0_q_max=5.77144; + elseif vw == 16 + params.a_booth=1.08241; + params.b_booth=346.688; + params.l_tether_min=0.4; + params.w0_decrease_init_phi0 =0.0151422; + params.F_t_traction_set=1.51317e+06; + params.F_t_retraction_set=0.0922592; + params.ft_smooth_2=0.1; + params.Kp_chi_k_traction=0.865947; + params.Kp_gamma_k_traction =1.29512; + params.Kp_chi_retraction=0.005; + params.Kp_gamma_retraction=0.005; + params.Kp_mu=0.139372; + params.Kp_alpha=0.635006; + params.Kp_p=10; + params.Kp_r=5.58439; + params.kp_winch=0.295683; + params.Kp_brake =0.01; + params.Ki_brake =0.870709; + params.w0_chi_retraction_max=0.306215; + params.w0_p_max=12.2376; + params.w0_q_max=4.56306; + params.w0_r_max=11.9888; + params.arc1 =2.07385; + elseif vw == 18 + params.l_tether_min=0.605951; + params.w0_decrease_init_phi0 =0.0423388; + params.transition_phi =30.2495; + params.F_t_traction_set=1.59831e+06; + params.F_t_retraction_set=0.274943; + params.ft_smooth_2=0.0900948; + params.Kp_chi_k_traction=0.623031; + params.Kp_gamma_k_traction =4; + params.Kp_chi_retraction=0.669186; + params.Kp_gamma_retraction=0.682898; + params.Kp_mu=0.122912; + params.Kp_alpha=0.956417; + params.Kp_p=7.2182; + params.Kp_r=0.1; + params.kp_winch=0.49516; + params.Kp_brake =0.01; + params.Ki_brake =1.5; + params.w0_chi_retraction_max=0.157853; + params.w0_gamma_retraction_max=0.776615; + params.w0_p_max=8.10721; + params.w0_q_max=5.91244; + params.w0_r_max=12.6844; + params.arc1 =1.72582; + elseif vw == 20 + params.b_booth=456.178; + params.l_tether_min=0.630008; + params.transition_phi =30.203; + params.F_t_traction_set=1.36038e+06; + params.F_t_retraction_set=0.336852; + params.ft_smooth_2=0.0777781; + params.Kp_chi_k_traction=0.794218; + params.Kp_gamma_k_traction =0.909781; + params.Kp_chi_retraction=0.707875; + params.Kp_gamma_retraction=0.472609; + params.Kp_alpha=0.702591; + params.Kp_p=3.29734; + params.Kp_q=4.14104; + params.kp_winch=0.893688; + params.Kp_brake =0.557553; + params.Ki_brake =0.116862; + params.w0_chi_retraction_max=0.110278; + params.w0_gamma_retraction_max=0.743149; + params.w0_p_max=9.32837; + params.w0_q_max=6.16074; + params.arc1 =2.24528; + params.x_arcEnd =63.4549; + elseif vw == 25 + params.a_booth=1.66286; + params.phi0_booth =0.732933; + params.l_tether_max=1264.56; + params.initial_path_elevation =53.2887; + params.w0_decrease_init_phi0 =0.0257363; + params.F_t_traction_set=1.34767e+06; + params.F_t_retraction_set=0.5; + params.ft_smooth_2=0.00110343; + params.Kp_chi_k_traction=0.1; + params.Kp_gamma_k_traction =2.27624; + params.Kp_chi_retraction=0.368819; + params.Kp_gamma_retraction=1.78085; + params.Kp_alpha=0.37568; + params.Kp_p=10; + params.Kp_r=5.53828; + params.kp_winch=1.26635; + params.Kp_brake =0.6; + params.Ki_brake =0.0617754; + params.w0_chi_retraction_max=0.24096; + params.w0_gamma_retraction_max=0.709451; + params.w0_p_max=8.4859; + params.w0_q_max=7.0204; + params.arc1 =1.05; + elseif vw == 28 + params.phi0_booth =0.785398; + params.l_tether_min=0.693607; + params.initial_path_elevation =55; + params.transition_phi =55; + params.F_t_traction_set=1.25094e+06; + params.F_t_retraction_set=0.5; + params.ft_smooth_2=0.1; + params.Kp_chi_k_traction=0.1; + params.Kp_gamma_k_traction =2.63206; + params.Kp_chi_retraction=0.728304; + params.Kp_gamma_retraction=1.34774; + params.Kp_alpha=0.531128; + params.Kp_p=10; + params.Kp_r=2.16183; + params.kp_winch=1.51588; + params.Kp_brake =0.28116; + params.Ki_brake =0; + params.w0_chi_retraction_max=0.349916; + params.w0_p_max=9.41052; + params.w0_q_max=4.74901; + elseif vw == 30 + params.a_booth=2; + params.phi0_booth =0.785398; + params.initial_path_elevation =55; + params.w0_decrease_init_phi0 =0.005; + params.transition_phi =41.2721; + params.F_t_traction_set=1.06315e+06; + params.F_t_retraction_set=0.440517; + params.ft_smooth_2=0.00834137; + params.Kp_chi_k_traction=0.1; + params.Kp_gamma_k_traction =3.02232; + params.Kp_chi_retraction=0.498508; + params.Kp_gamma_retraction=1.98229; + params.Kp_alpha=0.763475; + params.Kp_p=10; + params.Kp_r=0.1; + params.kp_winch=1.32928; + params.Kp_brake =0.54958; + params.Ki_brake =0.291639; + params.w0_chi_retraction_max=0.500669; + params.w0_gamma_retraction_max=0.864453; + params.w0_p_max=8.64535; + params.w0_q_max=6.70907; + params.w0_r_max=6.90966; + params.arc1 =1.73774; + elseif vw ~= 22 + warning(['Controller parameters adopted from 22m/s wind, ',... + 'wind speed changed to ', num2str(vw) ,'m/s']) + end + base_windspeed = vw; + else + error('Wong number of degrees of freedom entered') + end +%------------- END CODE -------------- +end \ No newline at end of file diff --git a/Src/Common/GroundStation/GroundSystem.slx b/Src/Common/GroundStation/GroundSystem.slx new file mode 100644 index 0000000..c46ca32 Binary files /dev/null and b/Src/Common/GroundStation/GroundSystem.slx differ diff --git a/Src/Common/GroundStation/WinchControl.slx b/Src/Common/GroundStation/WinchControl.slx new file mode 100644 index 0000000..9bdfd34 Binary files /dev/null and b/Src/Common/GroundStation/WinchControl.slx differ diff --git a/PreSim_startup.m b/Src/Common/PreSim_startup.m similarity index 74% rename from PreSim_startup.m rename to Src/Common/PreSim_startup.m index b7c2fda..7788eb1 100644 --- a/PreSim_startup.m +++ b/Src/Common/PreSim_startup.m @@ -13,28 +13,20 @@ % limitations under the License. function PreSim_startup() -%PreSim_startup - Set search path, simulink cache folder and clear variables +%Set search path, simulink cache folder and clear variables % -% Syntax: PreSim_startup() -% -% Inputs: -% input1 - None -% -% Outputs: -% output1 - None +% :returns: None % % Example: -% PreSim_startup() +% PreSim_startup(); % -% Other m-files required: None -% Subfunctions: None -% MAT-files required: None +% | Other m-files required: None +% | Subfunctions: None +% | MAT-files required: None % -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% Augustus 2020; Last revision: 17-September-2020 - +% :Revision: 17-September-2020 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + %------------- BEGIN CODE -------------- restoredefaultpath % To make sure path contains the right files @@ -43,6 +35,7 @@ function PreSim_startup() % Add all required folders/files to search path addpath(genpath('Lib')) addpath(genpath('Src')) +addpath(genpath('Extra')) % Setting cachefolder cfg = Simulink.fileGenControl('getConfig'); diff --git a/Src/Common/Tether/Tether_dynamics_R2019B.slx b/Src/Common/Tether/Tether_dynamics_R2019B.slx new file mode 100644 index 0000000..47d79dc Binary files /dev/null and b/Src/Common/Tether/Tether_dynamics_R2019B.slx differ diff --git a/Src/Common/Visualisation/Visualisation.slx b/Src/Common/Visualisation/Visualisation.slx new file mode 100644 index 0000000..bd18701 Binary files /dev/null and b/Src/Common/Visualisation/Visualisation.slx differ diff --git a/Src/Common/Visualisation/plane_image.mat b/Src/Common/Visualisation/plane_image.mat new file mode 100644 index 0000000..d1b096e --- /dev/null +++ b/Src/Common/Visualisation/plane_image.mat @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9da758eaf87400f1f1de2c8fc1e745640c1a101b76b9a273d5be3baa7f83d64f +size 39756 diff --git a/Src/Common/initAllSimParams_DE2019.m b/Src/Common/initAllSimParams_DE2019.m new file mode 100644 index 0000000..a6f6b9c --- /dev/null +++ b/Src/Common/initAllSimParams_DE2019.m @@ -0,0 +1,328 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function [act, base_windspeed, constr, DE2019, ENVMT, Lbooth, ... + loiterStates, params, simInit, T, winchParameter] = initAllSimParams_DE2019(Kite_DOF) +%Initialise simulation parameters for the complete system +% +% :param Kite_DOF: Degrees of freedom of the kite (3 or 6) +% +% :returns: +% - **act** - Actuator, aileron elevator and rudder data +% - **base_windspeed** - Wind speed at max altitude where speed stays constant +% - **constr** - Aircraft manoeuvre and winch constraints +% - **ENVMT** - Environmental parameters +% - **Lbooth** - Flight path parameters +% - **loiterStates** - Initial loiter parameters (power cycle initialisation) +% - **DE2019** - Aircraft parameters +% - **simInit** - Simulation initialisation parameters +% - **T** - Tether dimensions and material properties +% - **winchParameter** - Winch dynamic parameters +% - **params** - Flight/Winch controller parameters +% +% Example: +% | [act, base_windspeed, constr, ENVMT, Lbooth, ... +% | loiterStates, DE2019, simInit, T, winchParameter,params] = initAllSimParams_DE2019() +% +% | Other m-files required: transformFromWtoO.m, transformFromOtoW.m, getPointOnBooth.m +% | Subfunctions: None +% | MAT-files required: Lib/Common/DE2019_params.mat, Lib/6DoF/Control_allocation_V60.mat, Lib/Common/winddata_Lidar_Avg.mat +% +% :Revision: 22-June-2021 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + +%------------- BEGIN CODE -------------- +%% Obtain large-scale wing params +load('DE2019_params.mat','DE2019','constraintOut'); + +%% Environment struct +ENVMT.g = 9.8066; +ENVMT.rhos = 1.2250; +ENVMT.windDirection_rad = 3.1416; + +load('winddata_Lidar_Avg.mat', 'h', 'vw_norm_metmast_ijmuiden') +% load('winddata_Lidar_Avg.mat', 'h', 'vw_norm_metmast_cabauw') + +ENVMT.wind_height = h; +ENVMT.wind_data = vw_norm_metmast_ijmuiden; +ENVMT.height_max = h(ENVMT.wind_data==max(ENVMT.wind_data)); % keep wind speed constant from this height +% 250m for ijmuiden, 500m for cabauw + +%% Max winspeed measured at max altitude +base_windspeed = 22; % + +%% Initialization parameters +simInit.TSIM = 1200; % Maximum simulation time +simInit.dt = 0.005; % Fixed-step size +simInit.FSI_switchtime = 10000; % switching turned off because there is no active FSI + +simInit.FtLoggingTs = 0.01; %Tether force logging sample time +simInit.vWLoggingTs = 0.01; %Wind speed logging sample time +simInit.CteLoggingTs = 0.2; %cross-track error logging sample time +simInit.AttLoggingTs = 0.5; %Attitude (alpha, beta) logging sample time +simInit.GSLoggingTs = 0.5; %Glide slope error logging sample time +simInit.PLoggingTs = 0.01; %Power logging sample time, others use the same +simInit.Ts_power_conv_check = 0.1; %Power convergence check sample time + +% Aircraft position and attitude +pos_init_W = [200;400;450]; +simInit.pos_O_init = transformFromWtoO(ENVMT.windDirection_rad, pos_init_W)'; %[-200,0,-250]; +simInit.vel_B_init = [50;0;0]; +psi_init = ENVMT.windDirection_rad+pi; +if psi_init > pi + psi_init = ENVMT.windDirection_rad-pi; +end +simInit.eta_init = [0;0;psi_init];% Theta = theta_, +simInit.pos_W_init = transformFromOtoW(ENVMT.windDirection_rad, simInit.pos_O_init'); +simInit.long_init = atan2( simInit.pos_W_init(2), simInit.pos_W_init(1) ); +simInit.lat_init = asin( simInit.pos_W_init(3)/norm(simInit.pos_W_init) ); + +%% Constrainst +constr.mu_a_max = deg2rad(60); +constr.mu_a_min = -constr.mu_a_max; + +alphawing = deg2rad(DE2019.initAircraft.alpha)'; +liftwing = DE2019.initAircraft.wing_cL_Static'; +[~, ind] = unique(liftwing); + +constr.alpha_a_max = alphawing(ind(end)); +constr.alpha_a_min = deg2rad(-15); + +constr.mu_a_max_retraction = 0.7854; +constr.gamma_min_retraction = -40; %degrees +constr.gamma_max_retraction = 30; %degrees +% Maximum lift generated by aircraft +constr.max_lift = constraintOut.buckling; + +constr.max_delta_mu = 0.1745; +constr.mu_k_max = 1.0472; +if Kite_DOF == 6 + constr.max_rates_B = deg2rad(50); +end + +% Maximum tether force +constr.F_T_max = 0.9*constr.max_lift; + +constr.Va_min = 15; % Minimum velocity before engines turn on to assist +constr.max_CL = 2.5; % Hard code maximum allowable cl +constr.min_CL = -2.5; % Hard code minimum allowable cl +constr.min_altitude_pc = 400; % Retraction target minimal altitude +constr.winchParameter.a_max = 5; +constr.winchParameter.a_min = -5; % winch acceleration limits +constr.winchParameter.v_max = 25; % winch reelout speed limits. +constr.winchParameter.v_min =-25; + +%% Tether parameters +SFt = 1.5; % Safety Factor +sigmat = 3.6*10^9; % % Kite power fact sheet: Dyneema® high-strength, high-modulus polyethylene fiber +rho_dyneema = 970; %kg/m3 % Kite power fact sheet: Dyneema® high-strength, high-modulus polyethylene fiber + +T.d_tether = sqrt(constr.F_T_max/(sigmat/(4/pi*SFt))); +T.rho_t = rho_dyneema * (pi/4*T.d_tether^2); %kg/m +T.CD_tether = 1.2; + +T.E = 116e9; % Kite power fact sheet: Dyneema® high-strength, high-modulus polyethylene fiber +T.A = (pi/4*T.d_tether^2); +T.np = 15; %number of descretization particles, needs convergence study + +% DE2019.rho_air = 1.2250; + +l_j = norm(simInit.pos_W_init); +phi_init = atan2(simInit.pos_W_init(2),sqrt(l_j^2-simInit.pos_W_init(2)^2)); +if abs(phi_init)<1e-5 + phi_init = 0; +end +theta_init = atan2(simInit.pos_W_init(1),simInit.pos_W_init(3)); + +T.Tn_vect = [theta_init; phi_init; 0.002*T.E*T.A]; %theta,phi,force magnitude + +T.tether_inital_lenght = norm( simInit.pos_O_init); +T.l0 = T.tether_inital_lenght/(T.np+1); +T.pos_p_init = []; +e_t = simInit.pos_W_init/norm(simInit.pos_W_init); +for p = 1 : T.np + T.pos_p_init = [T.pos_p_init, p*e_t*T.l0]; +end +T.pos_p_init = fliplr(T.pos_p_init); + +T.eta1 = 0.403362463949762; +T.eta2 = 0.646914366052548; +T.alpha1 = 4.33961097083308; +T.alpha2 = 0.745653460592095; + +%% Winch parameters +%Needs further research at this scale +winchParameter.lj_dot_init = 0; %initial reel-out speed +winchParameter.radius = 0.4; +winchParameter.inertia = 32; +winchParameter.friction = 10; %dynamic friction +winchParameter.winch_angle_init = T.tether_inital_lenght/winchParameter.radius; + +%% Flightpath parameter +params.a_booth = 0.9; +params.b_booth = 500; +params.phi0_booth = 0.523599; + +params.l_tether_max = 1400; +params.l_tether_min = 0.8; + +params.initial_path_elevation = 30; +params.w0_decrease_init_phi0 = 0.1; +params.transition_phi = 30; % set the elevation of the transition figure + +%% Tetherforce set point +params.F_t_traction_set = 1.37659e+06; +params.F_t_retraction_set = 0.213972; +loiterStates.Ft_set_loiter = 1e6; %During initialisation + +% params.ft_smooth_1= 2.5000e-04; % Tether set point slow increase parameter (state machine) +params.ft_smooth_2 = 0.0893862; % Tether set point slow increase parameter (state machine) +% params.ft_smooth_3=1e-2; % Tether set point slow increase parameter (state machine) + +%% Control parameters + +params.Kp_chi_k_traction = 0.632409; +params.Kp_gamma_k_traction = 0.918834; + +params.Kp_chi_retraction = 0.31442; +params.Kp_gamma_retraction = 0.33232; +params.Ki_chi_retraction = 0; +params.Ki_gamma_retraction = 0; + +params.Kp_chi_loiter = 6.80238; +params.Kp_gamma_loiter = 0.005; + +params.Kp_mu = 0.05; +params.Kp_alpha = 0.451566; + +params.Ki_mu = 0; % commented out in simulink +params.Ki_alpha = 0.1000; + +params.kp_winch = 0.96871; +params.ki_winch = 0; + +params.crosstrackerror_condition = 400; +params.w0SpeedControl = 0.5000; +params.kp_speed_control = 5; +params.ki_speed_control = 5; +params.Kp_brake = 0.43288; +params.Ki_brake = 0.106604; + +params.r_retraction = 100; +params.kp_delta_course = 0.1; +params.kp_delta_gamma = 0.05; +% params.v_k_min= 10; +% params.dvk= 2; +params.delta0_offset = 0.1500; +params.delta0_slope = 0; + +params.w0_chi_retraction_max = 0.05; +params.w0_gamma_retraction_max = 1; +params.w0_mu = 6; +params.w0_alpha = 7; + +if Kite_DOF==6 + params.Kp_beta = .1; + params.Ki_beta = 0; % commented out in simulink + params.Kp_p = 7.82054; + params.Kp_q = 10; + params.Kp_r = 10; + params.w0_p_max = 8.34278; + params.w0_q_max = 5.95005; + params.w0_r_max = 15; +end + +%Retraction phase +params.arc1 = 3.5; % Minimum: >1 determines size arc radius +params.arcPoints = 10; %discretisation points for the retraction phase navigation flight path +params.x_arcEnd = 0; +% params.arc_phi =0; %Inclination of retraction phase 2 in degrees + +%% Parameters of the loitering state (initialisation phase) +loiterStates.Va_set = 47.4746; +loiterStates.kp_h = 0.1000; +loiterStates.kp_delta_course = 0.05; + +loiterStates.R = 200; +loiterStates.pos_OLoiter_W = [100;0;200]; +loiterStates.validTransReg_start = -3.1416; %-pi +loiterStates.validTransReg_end = -1.3963; %-11*pi/25 + +%% Actuators +if Kite_DOF==6 + % Aileron + act.aileron.w0 = 35; + act.aileron.rl = 2;%300*pi/180; % + act.aileron.max_deflection = 1; %+-35º + act.aileron.min_deflection = -1; + act.aileron.bias = 0; + + % Elevator + act.elevator.w0 = 35; % + act.elevator.rl = 2;%300*pi/180; % + act.elevator.max_deflection = 19*pi/180; + act.elevator.min_deflection = -19*pi/180; + act.elevator.bias = 0; + + % Rudder + act.rudder.w0 = 35; % + act.rudder.rl = 2;%300*pi/180; % + act.rudder.max_deflection = 19*pi/180; + act.rudder.min_deflection = -19*pi/180; + act.rudder.bias = 0; +else + act = 'No actuators modelled'; +end +%% Control allocation matrix data generation +% Control allocation matrix calculated at different angles of attack based +% on DE2019 aircraft. +if Kite_DOF==6 + load('Control_allocation_V60.mat','alphalist','B_A11','B_A21','B_A31',... + 'B_A22','B_A13','B_A33') + + B_A11f = fit(alphalist',B_A11','poly2'); + B_A21f = fit(alphalist',B_A21','poly2'); %almost linear but poly2 gives lower RMSE + B_A31f = fit(alphalist',B_A31','poly2'); + B_A22f = fit(alphalist',B_A22','poly2'); + B_A13f = fit(alphalist',B_A13','poly2'); + B_A33f = fit(alphalist',B_A33','poly2'); + + DE2019.Cl_deltaA_0 = B_A11f.p3; + DE2019.Cl_deltaA_alpha = B_A11f.p2; + DE2019.Cl_deltaA_alpha2 = B_A11f.p1; + DE2019.Cl_deltaR_0 = B_A13f.p3; + DE2019.Cl_deltaR_alpha = B_A13f.p2; + DE2019.Cl_deltaR_alpha2 = B_A13f.p1; + + DE2019.Cm_deltaA_0 = B_A21f.p3; + DE2019.Cm_deltaA_alpha = B_A21f.p2; + DE2019.Cm_deltaA_alpha2 = B_A21f.p1; + DE2019.Cm_deltaE_0 = B_A22f.p3; + DE2019.Cm_deltaE_alpha = B_A22f.p2; + DE2019.Cm_deltaE_alpha2 = B_A22f.p1; + + DE2019.Cn_deltaA_0 = B_A31f.p3; + DE2019.Cn_deltaA_alpha = B_A31f.p2; + DE2019.Cn_deltaA_alpha2 = B_A31f.p1; + DE2019.Cn_deltaR_0 = B_A33f.p3; + DE2019.Cn_deltaR_alpha = B_A33f.p2; + DE2019.Cn_deltaR_alpha2 = B_A33f.p1; +end +%% Lemniscate parameter initialisation, no need to be changed +Lbooth.a = 0; %initialisation of variable +Lbooth.b = 0; %initialisation of variable +Lbooth.phi0 = 0; %initialisation of variable +Lbooth.init_sol = 3.9270; %5*pi/4 +%------------- END CODE -------------- +end diff --git a/Src/Common/initAllStructs.m b/Src/Common/initAllStructs.m new file mode 100644 index 0000000..6219e4a --- /dev/null +++ b/Src/Common/initAllStructs.m @@ -0,0 +1,50 @@ +function simIn = initAllStructs(model, base_windspeed, constr, ... + ENVMT, Lbooth, loiterStates, DE2019, simInit, T, winchParameter,params,act) +%Initialise simulation input variable. +% +% :param model: simulink model name (without .slx extension). +% :param base_windspeed: Wind speed at max altitude where speed stays constant. +% :param constr: Aircraft manoeuvre and winch constraints. +% :param ENVMT: Environmental parameters. +% :param Lbooth: Flight path parameters. +% :param loiterStates: Initial loiter parameters (power cycle initialisation). +% :param DE2019: Aircraft parameters. +% :param simInit: Simulation initialisation parameters. +% :param T: Tether dimensions and material properties. +% :param winchParameter: Winch dynamic parameters. +% :param params: Flight/Winch controller parameters. +% :param act: Actuator, aileron elevator and rudder data. +% +% :returns: +% - **simIn** - Actuator, aileron elevator and rudder data. +% +% Example: +% | simIn = initAllStructs('Dyn_6DoF_v2_0_r2019b', base_windspeed, constr, ... +% | ENVMT, Lbooth, loiterStates, DE2019, simInit, T, winchParameter,params,act) +% +% | Other m-files required: transformFromWtoO.m, transformFromOtoW.m, getPointOnBooth.m +% | Subfunctions: None +% | MAT-files required: Lib/Common/DE2019_params.mat, Lib/6DoF/Control_allocation_V60.mat, Lib/Common/winddata_Lidar_Avg.mat +% +% :Revision: 22-June-2021 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) + +%------------- BEGIN CODE -------------- + +simIn = Simulink.SimulationInput(model); + +simIn = simIn.setVariable('base_windspeed',base_windspeed,'Workspace',model); +simIn = simIn.setVariable('constr',constr,'Workspace',model); +simIn = simIn.setVariable('ENVMT',ENVMT,'Workspace',model); +simIn = simIn.setVariable('Lbooth',Lbooth,'Workspace',model); +simIn = simIn.setVariable('loiterStates',loiterStates,'Workspace',model); +simIn = simIn.setVariable('DE2019',DE2019,'Workspace',model); +simIn = simIn.setVariable('simInit',simInit,'Workspace',model); +simIn = simIn.setVariable('T',T,'Workspace',model); +simIn = simIn.setVariable('winchParameter',winchParameter,'Workspace',model); +simIn = simIn.setVariable('params',params,'Workspace',model); +simIn = simIn.setVariable('act',act,'Workspace',model); + +simIn = simIn.setModelParameter('TimeOut', simInit.TSIM); +%------------- END CODE -------------- +end \ No newline at end of file diff --git a/Src/Offline_visualisation/LastcycleData_plot.m b/Src/Offline_visualisation/LastcycleData_plot.m deleted file mode 100644 index 80f17e1..0000000 --- a/Src/Offline_visualisation/LastcycleData_plot.m +++ /dev/null @@ -1,13 +0,0 @@ -function LastcycleData_plot(struct_var,ylab,xlab) - -%% Data plot -figure -Ydata = struct_var.Data; -Xdata = struct_var.Time-struct_var.Time(1); -plot(Xdata,Ydata) -ylabel(ylab) -xlabel(xlab) -hold on; box on; grid on; axis tight; -enhance_plot('times',16,1.5,3,0) - -end \ No newline at end of file diff --git a/Src/Offline_visualisation/Offline_visualisation_power.m b/Src/Offline_visualisation/Offline_visualisation_power.m index 86c1e2a..e2bbc6d 100644 --- a/Src/Offline_visualisation/Offline_visualisation_power.m +++ b/Src/Offline_visualisation/Offline_visualisation_power.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -12,84 +12,103 @@ % See the License for the specific language governing permissions and % limitations under the License. -function Offline_visualisation_power(P_mech_last_cycle,Path_last_cycle) -%Offline_visualisation - Plot power curve and flight path +function [figPO, fig_pow] = Offline_visualisation_power(P_mech_last_cycle,Path_last_cycle) +%Plot power curve and flight path % -% Syntax: Offline_visualisation(P_mech_last_cycle,Path_last_cycle) +% :param P_mech_last_cycle: Converged cycle timeseries of power +% :param Path_last_cycle: Converged cycle timeseries of kite position % -% Inputs: -% P_mech_last_cycle - Converged cycle timeseries of power -% Path_last_cycle - Converged cycle timeseries of kite position -% -% Outputs: -% output1 - None +% :returns: None % % Example: % Offline_visualisation(P_mech_last_cycle,Path_last_cycle); % -% Other m-files required: enhance_plot.m -% Subfunctions: None -% MAT-files required: None +% | Other m-files required: enhance_plot.m +% | Subfunctions: none +% | MAT-files required: none % -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% January 2020; Last revision: 01-September-2020 +% :Revision: 01-September-2020 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) %------------- BEGIN CODE -------------- %% Power -figPO = figure(98); +figPO = figure('Name', 'Continuous power' ); Power = P_mech_last_cycle.Data./1e6; PTime = P_mech_last_cycle.Time-P_mech_last_cycle.Time(1); -plot(PTime,Power,'b') -ylabel('Power [MW]') -xlabel('Cycle time [s]') + +% Level for Color Change +lev = 0; +% Find points above the level +aboveLine = (Power>lev); +% Create 2 copies of y +NegPower = Power; +PosPower = Power; +% Set the values you don't want to get drawn to nan +NegPower(aboveLine) = NaN; +PosPower(~aboveLine) = NaN; + +plot(PTime,PosPower,'Color','#77AC30','Marker','none','MarkerIndices',1:100:length(PosPower)) hold on; box on; grid on; axis tight; +plot(PTime,NegPower,'Color','#A2142F','Marker','none','MarkerIndices',1:100:length(NegPower)) -plot([0 PTime(end)],[mean(Power) mean(Power)],'--') -plot([0 PTime(end)],[max(Power) max(Power)],'--') -enhance_plot('times',16,1.5,3,3) -legend('Power', 'Average power','Peak power','Location','best') +plot([0 PTime(end)],[mean(Power) mean(Power)],'--','Color','#EDB120') +% plot([0 PTime(end)],[max(Power) max(Power)],'--') +enhance_plot('times',16,1.5,4,3) +% legend('Power','', 'Average power','Peak power','Location','best') +if mean(Power) < 1 + mp = [num2str(mean(Power)*1e3,3) ' kW']; +else + mp = [num2str(mean(Power),3) ' MW']; +end +legend('Power (Positive)','Power (Negative)', ['Average power (' mp ')'],'Location','best') +ylabel('Mechanical power [MW]') +xlabel('Time [s]') % saveas(figPO,'power_cycle','epsc') %% Flight path & power -fig_pow = figure(99); +fig_pow = figure('Name', 'Flight path, power coloured' ); set(gcf, 'Position', [100, 100, 1400, 1000]) axes1 = axes('Parent',fig_pow,'Position',[0.13,0.11,0.678584552871244,0.815]); hold(axes1,'on'); fig_pow.Renderer = 'painters'; -view([27 39]) +view([16 19]) +% view([138 24]) % set(gca,'XColor', 'none','YColor','none','ZColor','none') % set(gcf, 'color', 'white'); % set(gca, 'color', 'white'); - +fontsize = 35; % Flight path coloured by power -sizeScatter = 5; +sizeScatter = 14; Power = P_mech_last_cycle.Data./1e6; scatter3(-Path_last_cycle.Data(1,:),Path_last_cycle.Data(2,:),-Path_last_cycle.Data(3,:),sizeScatter*ones(size(Power)),Power,'filled'); hold on -enhance_plot('Helvetica',25,2,20,0) +enhance_plot('Times',fontsize,2,40,0) %Colorbar LimitsColorBar = [floor(min(Power)/1)*1 ceil(max(Power)/1)*1]; + +CM = bone((LimitsColorBar(2)-LimitsColorBar(1))*100); +negbar = hot(abs(LimitsColorBar(1))*100+900); +CM(1:abs(LimitsColorBar(1))*100,:) = negbar(1:end-900,:); +CM(abs(LimitsColorBar(1))*100+1:end,:) = flipud(summer(size(CM(abs(LimitsColorBar(1))*100+1:end,:),1))); +colormap(CM) % Set the colormap of the figure + cb = colorbar('peer',axes1,'Location','eastoutside','FontSize',16); -cb.Label.String = 'Power, MW'; +cb.Label.String = 'Power [MW]'; caxis(LimitsColorBar) -cb.FontSize = 16; +cb.FontSize = fontsize; cb.Location = 'eastoutside'; cb.Position = [0.874536933823625,0.111493416432584,0.010666666666667,0.815]; -cb.Label.FontSize = 16; +cb.Label.FontSize = fontsize; % Graph limits limitz = [0 1000]; -limity = [-600 600]; -limitx = [-100 1500]; -zlim(limitz) -ylim(limity) -xlim(limitx) -xlabel('x_W [m]','FontSize',25); -ylabel('y_W [m]','FontSize',25); -zlabel('z_W [m]','FontSize',25); -grid off +limity = [-800 800]; +limitx = [-400 1300]; + +xlabel('x_W [m]','FontSize',fontsize); +ylabel('y_W [m]','FontSize',fontsize); +zlabel('z_W [m]','FontSize',fontsize); + X = [limitx(1);limitx(2);limitx(2);limitx(1)]; Y = [limity(1);limity(1);limity(2);limity(2)]; @@ -100,26 +119,34 @@ function Offline_visualisation_power(P_mech_last_cycle,Path_last_cycle) 0 1 0]; fill3(X,Y,Z, c(:,2),'EdgeColor','none','FaceColor',c(1,:),'FaceAlpha',0.1); -X = [limitx(1);limitx(1);limitx(1);limitx(1)]; -Y = [limity(1);limity(1);limity(2);limity(2)]; -Z = [limitz(1);limitz(2);limitz(2);limitz(1)]; -c = [200/255 200/255 200/255; -0 0 0; -0 0 0; -0 0 0]; -fill3(X,Y,Z, c(:,2),'EdgeColor','none','FaceColor',c(1,:),'FaceAlpha',0.1); - -X = [limitx(1);limitx(2);limitx(2);limitx(1)]; -Y = [limity(2);limity(2);limity(2);limity(2)]; -Z = [limitz(1);limitz(1);limitz(2);limitz(2)]; -fill3(X,Y,Z, c(:,2),'EdgeColor','none','FaceColor',c(1,:),'FaceAlpha',0.1); +% X = [limitx(1);limitx(1);limitx(1);limitx(1)]; +% Y = [limity(1);limity(1);limity(2);limity(2)]; +% Z = [limitz(1);limitz(2);limitz(2);limitz(1)]; +% c = [200/255 200/255 200/255; +% 0 0 0; +% 0 0 0; +% 0 0 0]; +% fill3(X,Y,Z, c(:,2),'EdgeColor','none','FaceColor',c(1,:),'FaceAlpha',0.1); +% +% X = [limitx(1);limitx(2);limitx(2);limitx(1)]; +% Y = [limity(2);limity(2);limity(2);limity(2)]; +% Z = [limitz(1);limitz(1);limitz(2);limitz(2)]; +% fill3(X,Y,Z, c(:,2),'EdgeColor','none','FaceColor',c(1,:),'FaceAlpha',0.1); %Path projections on sides/walls of the graph h(1) = scatter3(-Path_last_cycle.Data(1,:),Path_last_cycle.Data(2,:),zeros(size(-Path_last_cycle.Data(3,:)))); -enhance_plot('Helvetica',25,2,20,0) +% enhance_plot('Times',fontsize,2,20,0) h(2) = scatter3(-Path_last_cycle.Data(1,:),zeros(size(Path_last_cycle.Data(2,:)))+limity(2),-Path_last_cycle.Data(3,:)); -enhance_plot('Helvetica',25,2,20,0) +% enhance_plot('Times',fontsize,2,20,0) +% h(3) = scatter3(zeros(size(Path_last_cycle.Data(2,:)))+limitx(1),Path_last_cycle.Data(2,:),-Path_last_cycle.Data(3,:)); set(h,'MarkerFaceColor',[0.4 0.4 0.4],'MarkerEdgeColor','none','SizeData',.5,'LineWidth',0.01); + +grid on +axis equal +zlim(limitz) +ylim(limity) +xlim(limitx) + %------------- END CODE -------------- end diff --git a/Src/Offline_visualisation/Theoretical_Pcheck.m b/Src/Offline_visualisation/Theoretical_Pcheck.m new file mode 100644 index 0000000..255db3b --- /dev/null +++ b/Src/Offline_visualisation/Theoretical_Pcheck.m @@ -0,0 +1,134 @@ +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function fig_PO = Theoretical_Pcheck(simOut,constr,ENVMT,DE2019,simInit,T,params,fig_PO) +% Theoretical check, add values to instantaneous power plot. +% +% :param simOut: Simulation output +% :param constr: Aircraft manoeuvre and winch constraints +% :param ENVMT: Environmental parameters +% :param DE2019: Aircraft parameters +% :param simInit: Simulation initialisation parameters +% :param T: Tether dimensions and material properties +% :param params: Flight/Winch controller parameters +% :param fig_PO: Instantaneous power figure (Offline_visualisation_power.m) +% :returns: +% - **fig_PO** - Instantaneous power plot of converged power cycle with theoretical power. +% +% | Other m-files required: Offline_visualisation_power.m(if fig_PO not given), extractSignalOfLastCycle_nD.m +% | Subfunctions: none +% | MAT-files required: none +% +% :Revision: 14-April-2021 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) +% +% .. note:: +% - Loyd peak power with cosine losses from cycle CL and CD, +% - Costello et al. average power from cycle CL and CD + +%------------- BEGIN CODE -------------- +if nargin<8 + fig_PO = NaN; +end + +if ~simOut.power_conv_flag + error('Simulation output does not contain a converged result') +end + +%% Calculate parameters needed to fill in the theoretical equation of Loyd +colourvec = {'#77AC30', '#A2142F', '#EDB120', '#0072BD', 'm', 'c', 'y'}; +TL = extractSignalOfLastCycle_nD(simOut.tether_length, ... + simOut.cycle_signal_counter, simInit ); +Vw = extractSignalOfLastCycle_nD(simOut.v_w, ... + simOut.cycle_signal_counter, simInit ); +Flightstate_last_cycle = extractSignalOfLastCycle_nD(simOut.sub_flight_state, ... + simOut.cycle_signal_counter, simInit); +Alpha_last_cycle = extractSignalOfLastCycle_nD(simOut.alpha, ... + simOut.cycle_signal_counter, simInit); +% Lift_last_cycle = extractSignalOfLastCycle_nD(simOut.lift, ... +% simOut.cycle_signal_counter, simInit); +Drag_last_cycle = extractSignalOfLastCycle_nD(simOut.drag, ... + simOut.cycle_signal_counter, simInit); +Faero_last_cycle = extractSignalOfLastCycle_nD(simOut.Faero, ... + simOut.cycle_signal_counter, simInit); +P_mech_last_cycle = extractSignalOfLastCycle_nD(simOut.P_mech, ... + simOut.cycle_signal_counter, simInit); +dp_retract = find((Flightstate_last_cycle.Data==6|Flightstate_last_cycle.Data==7),1); +t_retract = Flightstate_last_cycle.Time(dp_retract); + +amin = rad2deg(constr.alpha_a_min); +amax = rad2deg(constr.alpha_a_max); +ind = (DE2019.initAircraft.alpha>=amin & DE2019.initAircraft.alpha<=amax); +x = DE2019.initAircraft.alpha(ind); +y1 = DE2019.initAircraft.wing_cL_Static(ind); +y2 = DE2019.initAircraft.wing_cD_Static(ind); +alpha_list = rad2deg(Alpha_last_cycle.Data(Alpha_last_cycle.Time<=t_retract)); +alpha_list(alpha_list>amax) = amax; +alpha_list(alpha_list 0 - typ = get(Hn,'Type'); - for j = 1:n - if strcmp('text',typ(j,:)) - set(Hn(j),'fontname',fontname); - set(Hn(j),'fontsize',fontsize); - end - if strcmp('line',typ(j,:)) - set(Hn(j),'LineWidth',linewid); - set(Hn(j),'MarkerSize',markersiz); - end - end -end -% legend: (Optional, DEF=0) if is 0, doesn't change the legend -% if is 1, changes only the lines on the legend -% if is 2, changes both the lines and the text -% if is 3, changes only the text -if (lgd~=0) - legh=legend; - Hn=get(legh,'Children'); - n = length(Hn); - if n > 0 - typ = get(Hn,'Type'); - for j = 1:n - if (strcmp('text',typ(j,:)) && ((lgd==2)||(lgd==3))) - set(Hn(j),'fontname',fontname); - set(Hn(j),'fontsize',fontsize-2); - end - if (strcmp('line',typ(j,:)) && ((lgd==1)||(lgd==2))) - set(Hn(j),'LineWidth',linewid); - set(Hn(j),'MarkerSize',markersiz); - end - end - end -end - - - - +% Copyright 2021 Delft University of Technology +% +% Licensed under the Apache License, Version 2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +function enhance_plot(fontname,fontsize,linewid,markersiz,lgd) +%Function to enhance MATLAB's lousy text choices on plots. Sets the +% current figure's Xlabel, Ylabel, Title, and all Text on plots, plus +% the axes-labels to the "fontname" and "fontsize" input here where +% the defaults have been set to 'times' and 16. +% Also sets all plotted lines to "linewid" and all markers to size +% "markersiz". The defaults are 2 and 8. +% +% :param fontname: (Optional,DEF='TIMES') FontName string to use MATLAB's ugly default is 'Helvetica' +% :param fontsize: (Optional,DEF=16) FontSize integer to use MATLAB's tiny default is 10 +% :param linewid: (Optional,DEF=2) LineWidth integer to use MATLAB's skinny default is 0.5 +% :param markersiz: (Optional,DEF=8) MarkerSize integer to use MATLAB's squinty default is 6 +% :param lgd: +% - (Optional, DEF=0) +% - if is 0, doesn't change the legend +% - if is 1, changes only the lines on the legend +% - if is 2, changes both the lines and the text +% - if is 3, changes only the text for all inputs, +% - if pass 0, use default +% - if pass -1, use MATLAB's default +% :returns: +% - **vec_Abar** - Vector in rotated aerodynamic reference frame. +% +% | Modifications +% | 19-Feb-2002 J. Nelson - added linewid and markersiz to help squinting readers +% | 20-Feb-2002 J. Nelson - added check for legend. If legend exists, increase the +% line and marker size, also increase the font to +% fontsize-2 (2 points smaller than title and labels) +% | 25-Feb-2002 J. Nelson - added lgd (legend) input check to fix legend problems. + +if (~exist('fontname','var')||(all(fontname==0) && isnumeric(fontname))) + fontname = 'times'; +elseif (fontname==-1) + fontname = 'helvetica'; +end +if (~exist('fontsize','var')||(fontsize==0)) + fontsize = 16; +elseif (fontsize==-1) + fontsize=10; +end +if (~exist('linewid','var')||(linewid==0)) + linewid=2; +elseif (linewid==-1) + linewid=0.5; +end +if (~exist('markersiz','var')||(markersiz==0)) + markersiz = 8; +elseif (markersiz==-1) + markersiz = 6; +end +if (~exist('lgd','var')||(lgd==0)||(lgd<=-1)) + lgd=0; +end + +box on; grid on; +Hf=gcf; +Ha=gca; +Hx=get(Ha,'XLabel'); +Hy=get(Ha,'YLabel'); +Ht=get(Ha,'Title'); +set(Ha,'LineWidth',.75); +set(Hx,'fontname',fontname); +set(Hx,'fontsize',fontsize); +set(Hy,'fontname',fontname); +set(Hy,'fontsize',fontsize); +set(Ha,'fontname',fontname); +set(Ha,'fontsize',fontsize); +%set(Ha,'YaxisLocation','right') +%set(Ha,'YaxisLocation','left') +set(Ht,'fontname',fontname); +set(Ht,'fontsize',fontsize); +set(Hy,'VerticalAlignment','bottom'); +set(Hx,'VerticalAlignment','cap'); +set(Ht,'VerticalAlignment','baseline'); +Hn = get(Ha,'Children'); +n = length(Hn); +if n > 0 + typ = get(Hn,'Type'); + for j = 1:n + if strcmp('text',typ(j,:)) + set(Hn(j),'fontname',fontname); + set(Hn(j),'fontsize',fontsize); + end + if strcmp('line',typ(j,:)) + set(Hn(j),'LineWidth',linewid); + set(Hn(j),'MarkerSize',markersiz); + end + end +end +% legend: (Optional, DEF=0) if is 0, doesn't change the legend +% if is 1, changes only the lines on the legend +% if is 2, changes both the lines and the text +% if is 3, changes only the text +if (lgd~=0) + legh=legend; + Hn=get(legh,'Children'); + n = length(Hn); + if n > 0 + typ = get(Hn,'Type'); + for j = 1:n + if (strcmp('text',typ(j,:)) && ((lgd==2)||(lgd==3))) + set(Hn(j),'fontname',fontname); + set(Hn(j),'fontsize',fontsize-2); + end + if (strcmp('line',typ(j,:)) && ((lgd==1)||(lgd==2))) + set(Hn(j),'LineWidth',linewid); + set(Hn(j),'MarkerSize',markersiz); + end + end + end +end + + + + figure(Hf); \ No newline at end of file diff --git a/Src/Offline_visualisation/extractSignalOfLastCycle2.m b/Src/Offline_visualisation/extractSignalOfLastCycle2.m index 6ee9270..7c5dd19 100644 --- a/Src/Offline_visualisation/extractSignalOfLastCycle2.m +++ b/Src/Offline_visualisation/extractSignalOfLastCycle2.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,31 +13,24 @@ % limitations under the License. function y = extractSignalOfLastCycle2( signal, sample_count_last_cycle, simInit ) -%extractSignalOfLastCycle2 - Extract 1D data from last converged power cycle. +%Extract 1D data from last converged power cycle. % -% Syntax: extractSignalOfLastCycle2( signal, sample_count_last_cycle, simInit ) +% :param signal: Full 1D timeseries simulation output. +% :param sample_count_last_cycle: Simulation timeseries 'sample_count_last_cycle'. +% :param simInit: Simulation input structure 'simInit'. % -% Inputs: -% signal - Full 1D timeseries simulation output -% sample_count_last_cycle - Simulation timeseries 'sample_count_last_cycle' -% simInit - Simulation input structure 'simInit' -% -% Outputs: -% y - Extracted power cycle timeseries +% :returns: +% - **y** - Extracted power cycle 1D timeseries. % % Example: % P_mech_last_cycle = extractSignalOfLastCycle2(P_mech, cycle_signal_counter, simInit); % -% Other m-files required: none -% Subfunctions: none -% MAT-files required: none +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none % -% Author: Sebastian Rapp, Phd. -% Modified: -% Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% December 2019 +% :Revision: December-2019 +% :Authors: Sebastian Rapp, Dylan Eijkelhof (d.eijkelhof@tudelft.nl) %------------- BEGIN CODE -------------- time_window_last_cylce = sample_count_last_cycle.Data(end) * simInit.Ts_power_conv_check; diff --git a/Src/Offline_visualisation/extractSignalOfLastCycle3D.m b/Src/Offline_visualisation/extractSignalOfLastCycle3D.m index 5a8c51e..308b7f9 100644 --- a/Src/Offline_visualisation/extractSignalOfLastCycle3D.m +++ b/Src/Offline_visualisation/extractSignalOfLastCycle3D.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,31 +13,24 @@ % limitations under the License. function y = extractSignalOfLastCycle3D( signal, sample_count_last_cycle, simInit ) -%extractSignalOfLastCycle3D - Extract 3D data from last converged power cycle. +%Extract 3D data from last converged power cycle. % -% Syntax: y = extractSignalOfLastCycle2( signal, sample_count_last_cycle, simInit ) +% :param signal: Full 3D timeseries simulation output. +% :param sample_count_last_cycle: Simulation timeseries 'sample_count_last_cycle'. +% :param simInit: Simulation input structure 'simInit'. % -% Inputs: -% signal - Full 3D timeseries simulation output -% sample_count_last_cycle - Simulation timeseries 'sample_count_last_cycle' -% simInit - Simulation input structure 'simInit' -% -% Outputs: -% y - Extracted power cycle 3D timeseries +% :returns: +% - **y** - Extracted power cycle 3D timeseries. % % Example: % Path_last_cycle = extractSignalOfLastCycle3D(pos_O, cycle_signal_counter, simInit ); % -% Other m-files required: none -% Subfunctions: none -% MAT-files required: none +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none % -% Author: Sebastian Rapp, Phd. -% Modified: -% Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% December 2019; Last revision: May-2020 +% :Revision: May-2020 +% :Authors: Sebastian Rapp, Dylan Eijkelhof (d.eijkelhof@tudelft.nl) %------------- BEGIN CODE -------------- time_window_last_cylce = sample_count_last_cycle.Data(1,1,end) * simInit.Ts_power_conv_check; diff --git a/Src/Offline_visualisation/extractSignalOfLastCycle_nD.m b/Src/Offline_visualisation/extractSignalOfLastCycle_nD.m index 3e4f669..fcc8ead 100644 --- a/Src/Offline_visualisation/extractSignalOfLastCycle_nD.m +++ b/Src/Offline_visualisation/extractSignalOfLastCycle_nD.m @@ -1,4 +1,4 @@ -% Copyright 2020 Delft University of Technology +% Copyright 2021 Delft University of Technology % % Licensed under the Apache License, Version 2.0 (the "License"); % you may not use this file except in compliance with the License. @@ -13,36 +13,73 @@ % limitations under the License. function y = extractSignalOfLastCycle_nD( signal, sample_count_last_cycle, simInit ) -%extractSignalOfLastCycle_nD - Extract n-D data from last converged power cycle. +%Extract n-D data from last converged power cycle. % -% Syntax: extractSignalOfLastCycle_nD( signal, sample_count_last_cycle, simInit ) +% :param signal: Full n-D timeseries simulation output,size= nx1xtimeseries +% :param sample_count_last_cycle: Simulation timeseries 'sample_count_last_cycle' +% :param simInit: Simulation input structure 'simInit' % -% Inputs: -% signal - Full n-D timeseries simulation output,size= nx1xtimeseries -% sample_count_last_cycle - Simulation timeseries 'sample_count_last_cycle' -% simInit - Simulation input structure 'simInit' -% -% Outputs: -% y - Extracted power cycle n-D timeseries +% :returns: +% - **y** - Extracted power cycle n-D timeseries. % % Example: -% Path_last_cycle = extractSignalOfLastCycle_nD(Tether_x, cycle_signal_counter, simInit ); +% TetherX_last_cycle = extractSignalOfLastCycle_nD(Tether_x, cycle_signal_counter, simInit ); % -% Other m-files required: none -% Subfunctions: none -% MAT-files required: none +% | Other m-files required: none +% | Subfunctions: none +% | MAT-files required: none % -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% December 2019; Last revision: May-2020 +% :Revision: January-2021 +% :Author: Dylan Eijkelhof (d.eijkelhof@tudelft.nl) %------------- BEGIN CODE -------------- time_window_last_cylce = sample_count_last_cycle.Data(1,1,end) * simInit.Ts_power_conv_check; idx_time_window_start = find(signal.Time >= signal.Time(end)-time_window_last_cylce,1); -for i=1:size(signal.Data,1) - y.Data(i,:) = signal.Data(i,1,idx_time_window_start:end); + +s = size(signal.Data); +if numel(s)==3 + one_pos = find(s==1,1); + snew = s; + snew(one_pos)=[]; + i_pos = find(s==min(snew)); + i_pos = i_pos(end); + for i=1:s(i_pos) + if i_pos==1 + if one_pos == 2 + y.Data(i,:) = signal.Data(i,1,idx_time_window_start:end); + else + y.Data(i,:) = signal.Data(i,idx_time_window_start:end,1); + end + elseif i_pos==2 + if one_pos == 1 + y.Data(i,:) = signal.Data(1,i,idx_time_window_start:end); + else + y.Data(i,:) = signal.Data(idx_time_window_start:end,i,1); + end + else + if one_pos == 1 + y.Data(i,:) = signal.Data(1,idx_time_window_start:end,i); + else + y.Data(i,:) = signal.Data(idx_time_window_start:end,1,i); + end + end + end +% for i=1:size(signal.Data,1) +% y.Data(i,:) = signal.Data(i,1,idx_time_window_start:end); +% end +elseif numel(s)==2 + [~,i_pos] = min(s); + for i=1:s(i_pos) + if i_pos==1 + y.Data(i,:) = signal.Data(i,idx_time_window_start:end); + else + y.Data(i,:) = signal.Data(idx_time_window_start:end,i)'; + end + end +else + error('Input is not compatible') end + y.Time = signal.Time(idx_time_window_start:end); %------------- END CODE -------------- end \ No newline at end of file diff --git a/Src/simFiles/Aircraft.jpg b/Src/simFiles/Aircraft.jpg deleted file mode 100644 index 3199b46..0000000 --- a/Src/simFiles/Aircraft.jpg +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1c72ec7deeb85ede60323785c11d5b08ccadaffbe5a1c32d5113beffc4bb05b4 -size 3129272 diff --git a/Src/simFiles/Flightpaths/transformFromO2Abar.m b/Src/simFiles/Flightpaths/transformFromO2Abar.m deleted file mode 100644 index 34ab065..0000000 --- a/Src/simFiles/Flightpaths/transformFromO2Abar.m +++ /dev/null @@ -1,20 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function vec_Abar = transformFromO2Abar( chi_a, gamma_a, vec_O ) - -M_AbarO = [cos(chi_a)*cos(gamma_a), sin(chi_a)*cos(gamma_a), -sin(gamma_a); - -sin(chi_a), cos(chi_a), 0; - cos(chi_a)*sin(gamma_a), sin(chi_a)*sin(gamma_a), cos(gamma_a)]; -vec_Abar = M_AbarO*vec_O; \ No newline at end of file diff --git a/Src/simFiles/Flightpaths/transformFromOtoW.m b/Src/simFiles/Flightpaths/transformFromOtoW.m deleted file mode 100644 index 1326ffd..0000000 --- a/Src/simFiles/Flightpaths/transformFromOtoW.m +++ /dev/null @@ -1,24 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function [pos_W] = transformFromOtoW(windDirection_rad,pos_O) -%TRANSFORMFROMOTOW - -M_WO = [cos(windDirection_rad), sin(windDirection_rad), 0; - sin(windDirection_rad), -cos(windDirection_rad), 0; - 0, 0, -1]; - -pos_W = M_WO*pos_O; - -end diff --git a/Src/simFiles/Flightpaths/transformFromTautoW.m b/Src/simFiles/Flightpaths/transformFromTautoW.m deleted file mode 100644 index ab20c19..0000000 --- a/Src/simFiles/Flightpaths/transformFromTautoW.m +++ /dev/null @@ -1,22 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function vec_W = transformFromTautoW( lamb,phi, vec_tau ) - -M_Wtau = [-sin(phi)*cos(lamb),-sin(lamb),-cos(phi)*cos(lamb); - -sin(phi)*sin(lamb), cos(lamb), -cos(phi)*sin(lamb); - cos(phi), 0, -sin(phi)]; - - -vec_W = M_Wtau * vec_tau; \ No newline at end of file diff --git a/Src/simFiles/Flightpaths/transformFromWtoO.m b/Src/simFiles/Flightpaths/transformFromWtoO.m deleted file mode 100644 index a8cb17c..0000000 --- a/Src/simFiles/Flightpaths/transformFromWtoO.m +++ /dev/null @@ -1,25 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function [pos_O] = transformFromWtoO(windDirection_rad,pos_W) -%TRANSFORMFROMOTOW Summary of this function goes here -% Detailed explanation goes here - -M_OW = [cos(windDirection_rad), sin(windDirection_rad), 0; - sin(windDirection_rad), -cos(windDirection_rad), 0; - 0, 0, -1]; - -pos_O = M_OW*pos_W; - -end diff --git a/Src/simFiles/Flightpaths/transformFromWtoTau.m b/Src/simFiles/Flightpaths/transformFromWtoTau.m deleted file mode 100644 index cda5ced..0000000 --- a/Src/simFiles/Flightpaths/transformFromWtoTau.m +++ /dev/null @@ -1,21 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function vec_tau = transformFromWtoTau( lamb,phi, vec_W ) - -M_tauW = [-sin(phi)*cos(lamb), -sin(phi)*sin(lamb), cos(phi); - -sin(lamb), cos(lamb), 0; - -cos(phi)*cos(lamb), -cos(phi)*sin(lamb), -sin(phi)]; - -vec_tau = M_tauW * vec_W; \ No newline at end of file diff --git a/Src/simFiles/Tether/Tethermodel.slx b/Src/simFiles/Tether/Tethermodel.slx deleted file mode 100644 index a8be8fe..0000000 Binary files a/Src/simFiles/Tether/Tethermodel.slx and /dev/null differ diff --git a/Src/simFiles/Tether/Tethermodel_R2018B.slx b/Src/simFiles/Tether/Tethermodel_R2018B.slx deleted file mode 100644 index cd54393..0000000 Binary files a/Src/simFiles/Tether/Tethermodel_R2018B.slx and /dev/null differ diff --git a/Src/simFiles/Tether/calcSegmentDrag.m b/Src/simFiles/Tether/calcSegmentDrag.m deleted file mode 100644 index 41b12e3..0000000 --- a/Src/simFiles/Tether/calcSegmentDrag.m +++ /dev/null @@ -1,49 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function [ d_segment ] = calcSegmentDrag( p_d, v_a_p, rho_air, CD_tether,d_tether ) -%CALCSEGMENTDRAG Summary of this function goes here -% Detailed explanation goes here - -%% Readme -% Equations are adapted from Fechner et al, Dynamic Model of a Pumping Kite -% Power System, Renewable Energy, 2015. -% Implementation: Sebastian Rapp, Wind Energy Institute, Faculty of -% Aerospace Engineering, TU Delft -% Mail: s.rapp@tudelft.nl -% Last change: 19.01.2018 -% -% General description: -% This functions calculates the segment drag. -% -% Inputs: -% CD_tether: Tether drag coefficient -% d_tether: Tether diameter -% rho_air: air density -% p_d: relative postion vector between two particles -% v_a_p: relative airspeed at one particle -% -% Outputs: -% d_segment: segment drag - - -dp_norm = p_d - p_d .* v_a_p .* v_a_p / (v_a_p' * v_a_p) ; % projection of segment direction perpedicular to v_a direction -va_perp = v_a_p - ( p_d' *v_a_p )/norm(p_d) * p_d/norm(p_d); -A_eff = norm(dp_norm) * d_tether; % projected tether area perpendicular to v_a -d_segment = 0.5 * rho_air * CD_tether * va_perp * norm(va_perp) * A_eff; % particle drag - - -end - - diff --git a/Src/simFiles/Tether/calcSpringDamperForce.m b/Src/simFiles/Tether/calcSpringDamperForce.m deleted file mode 100644 index 5bf2e8c..0000000 --- a/Src/simFiles/Tether/calcSpringDamperForce.m +++ /dev/null @@ -1,52 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function [ fsd_tot_vec_i ] = calcSpringDamperForce( c, p_norm, l_s, d, p_d, v_d ) -%CALC_SPRINGDAMPERFORCE Summary of this function goes here - -%% Readme -% Equations are adapted from Fechner et al, Dynamic Model of a Pumping Kite -% Power System, Renewable Energy, 2015. -% Implementation: Sebastian Rapp, Wind Energy Institute, Faculty of -% Aerospace Engineering, TU Delft -% Mail: s.rapp@tudelft.nl -% Last change: 19.01.2018 -% -% General description: -% This functions calculates the spring-damper force acting in one tether segment. -% -% Inputs: -% c: spring stiffness -% p_norm: euclidean distance between two adjacent tether particles -% l_s: segment length -% d: damping coefficient -% p_d: relative postion vector between two particles -% v_d: L2-norm velocities of two adjacent particles -% -% Outputs: -% Spring-Damper-force - -x = p_norm - l_s; -epsilon = 0; -delta = 1e-3; - -if x<=0 % no compressive forces allowed - c = c * min( max( 1/delta * ( x + epsilon )+1, 0), 1); % smooth - d = d * min( max( 1/delta * ( x + epsilon )+1, 0), 1); - fsd_tot_vec_i = (c * ( p_norm - l_s ) + d * ( p_d/p_norm)' * v_d ) * p_d/p_norm; -else - fsd_tot_vec_i = (c * ( p_norm - l_s ) + d * ( p_d/p_norm)' * v_d ) * p_d/p_norm; -end - -end diff --git a/Src/simFiles/Visualization/drawVehicle_v3st_twin.m b/Src/simFiles/Visualization/drawVehicle_v3st_twin.m deleted file mode 100644 index f6d98a3..0000000 --- a/Src/simFiles/Visualization/drawVehicle_v3st_twin.m +++ /dev/null @@ -1,214 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function drawVehicle_v3st_twin(uu) -%drawVehicle_v3st_twin - Real time simulation plotting -% -% Syntax: drawVehicle_v3st_twin(uu) -% -% Inputs: -% uu - List containing the below mentioned inputs, section INPUT -% -% Outputs: -% Output1 - None (PLOT) -% -% Example: -% Interpreted Matlab Function: drawVehicle_v3st_twin -% -% Other m-files required: transformFromOtoW.m -% Subfunctions (bottom): drawParticleTether, drawReferencePath, -% drawVehicleBody2, rotate_PhiThetaPsi, translate_3D -% STL-files required: plane_thesis_big.stl -% -% Author: Sebastian Rapp, Phd. -% Modified: -% Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% ??; Last revision: September-2020 - -%------------- BEGIN CODE -------------- - -% Set persistent parameters in plot to be updated at each time step -persistent pathpoints -persistent referencePath -persistent handleParticles -persistent Vert -persistent p - -%% INPUT -% Kite position -pn = uu(1); % inertial North position -pe = uu(2); % inertial East position -pd = uu(3); % inertial down position - -% Euler angles, kite orientation -phi = uu(4); -theta = uu(5); -psi = uu(6); - -% Simulation time -t = uu(7); - -% Number of tether particles -np = uu(8); - -% Wind direction -windDir = uu(9); - -% Reference flight path -Lbooth.a = uu(10)*uu(11); -Lbooth.b = uu(11); -Lbooth.phi0 = uu(12); - -% Tether particle positions -p_t_x = [0;uu( 13 : 13+np-1 );-pn]; -p_t_y = [0;uu( 13+np : 13+2*np-1 ); pe]; -p_t_z = [0;uu( 13+2*np : 13+3*np-1 );-pd]; - -%% INITIALISE PLOT FOR TIME=0 -if t==0 - figure(1); - addToolbarExplorationButtons(gcf) % Adds buttons to figure toolbar - - xlabel('x_W (m)'); - ylabel('y_W (m)'); - zlabel('z_W (m)'); - grid on - box on; - axis equal; hold on; - - view(45,45); % set the vieew angle for figure - ax_x = [-200 1500]; - ax_y = [-600 600]; - ax_z = [0 1000]; - axis([ax_x ax_y ax_z]); - - % Draw the ground as a green rectangle - X = [ax_x(1);ax_x(2);ax_x(2);ax_x(1)]; - Y = [ax_y(1);ax_y(1);ax_y(2);ax_y(2)]; - Z = [0;0;0;0]; - c = [0 1 0; - 0 1 0; - 0 1 0; - 0 1 0]; - fill3(X,Y,Z, c(:,2),'EdgeColor','none','FaceColor',c(1,:),'FaceAlpha',0.1); - - % Scale the aircraft (bigger/smaller) - scale = 3; - - % Import aircraft from stl file - [F, V, C] = rndread('plane_thesis_big.stl'); - Vert = scale*V'; - - % Draw kite - p = drawVehicleBody2(Vert,pn, pe, pd, phi, theta, psi,[], windDir, F, C); - - % Create animated line for path trail - color = [85/255, 85/255, 85/255 ]; - pathpoints = animatedline('Linestyle','-','color', color, 'Linewidth', 1.5); - - % Draw tether shape - handleParticles = drawParticleTether(p_t_x,p_t_y,p_t_z,[]); - - % Draw lissajous figure, reference path - s = 0 : 0.01 : 2*pi; - l_tether = norm(uu(1:3)); - [Lem] = updateBoothLemniscate(l_tether,Lbooth); - long_P = Lem.b * sin(s) ./( 1+(Lem.a/Lem.b*cos(s)).^2 ); - lat_P = Lem.a * sin(s).*cos(s) ./ ( 1+(Lem.a/Lem.b*cos(s)).^2 ); - p_P = [ cos(long_P).*cos(lat_P);sin(long_P).*cos(lat_P);sin(lat_P)]*l_tether; - phi_p_mean = Lbooth.phi0; - M_WP = [cos(phi_p_mean),0, -sin(phi_p_mean);0, 1, 0; sin(phi_p_mean),0, cos(phi_p_mean)]; - p_W = M_WP * p_P; - referencePath = drawReferencePath( p_W(1,:), p_W(2,:), p_W(3,:), []); - -%% All other time steps, edit plot -else - % Update aircraft position - drawVehicleBody2(Vert, pn, pe, pd, phi, theta, psi, p, windDir, [], []); - - % Add the aircraft position to the path trail (path memory) - pos_W = transformFromOtoW(windDir, [pn;pe;pd]); - addpoints(pathpoints,pos_W(1), pos_W(2),pos_W(3)); - - % Update tether shape - handleParticles = drawParticleTether(p_t_x,p_t_y,p_t_z, handleParticles); - - % Update lissajous figure - s = 0 : 0.01 : 2*pi; - l_tether = norm(uu(1:3)); - [Lem] = updateBoothLemniscate(l_tether,Lbooth); - long_P = Lem.b * sin(s) ./( 1+(Lem.a/Lem.b*cos(s)).^2 ); - lat_P = Lem.a * sin(s).*cos(s) ./ ( 1+(Lem.a/Lem.b*cos(s)).^2 ); - p_P = [ cos(long_P).*cos(lat_P);sin(long_P).*cos(lat_P);sin(lat_P)]*l_tether; - phi_p_mean = Lbooth.phi0; - M_WP = [cos(phi_p_mean),0, -sin(phi_p_mean);0, 1, 0; sin(phi_p_mean),0, cos(phi_p_mean)]; - p_W = M_WP * p_P; - referencePath = drawReferencePath( p_W(1,:), p_W(2,:), p_W(3,:), referencePath); - -end -%------------- END CODE -------------- -end - -function handleParticles = drawParticleTether(p_t_x, p_t_y, p_t_z, handleParticles) - if isempty(handleParticles) - handleParticles = plot3( p_t_x, p_t_y,p_t_z , '-', 'color', [0.1 0.1 0.1], 'Markersize',2, 'Linewidth', 1.2, 'MarkerFaceColor', [0.3 0.3 0.3]); - else - set(handleParticles,'XData',p_t_x,'YData',p_t_y,'ZData',p_t_z); - end - drawnow; -end - -function referencePath = drawReferencePath(x, y, z, referencePath) - if isempty(referencePath) - referencePath = plot3( x, y,z , '-', 'color', [1 0.3 0.3],'Linewidth', 1.5); - else - set(referencePath,'XData',x,'YData',y,'ZData',z); - end - drawnow; -end - -function p = drawVehicleBody2(V, pn, pe, pd, phi, theta, psi, p, windDir, F, C) - V = rotate_PhiThetaPsi( V, phi, theta, psi ); - V = translate_3D(V, pn , pe, pd); - V = transformFromOtoW(windDir, V); - - if isempty(p) - % [F, ~, C] = rndread('plane_thesis_big.stl'); - col = [ 57/255, 106/255, 177/255 ]; - p = patch('faces', F, 'vertices' ,V'); - set(p, 'facec', 'b'); % Set the face color (force it) - set(p, 'FaceVertexCData', C); % Set the color (from file) - set(p, 'EdgeColor','none'); - set(p, 'FaceLighting', 'none'); - set(p, 'FaceColor', col ); - - view(45,45); - daspect([1 1 1]) - else - set(p, 'Vertices', V'); - drawnow - end -end - -function pts = rotate_PhiThetaPsi(pts, phi, theta, psi) - pts = [ cos(psi)*cos(theta), cos(psi)*sin(phi)*sin(theta) - cos(phi)*sin(psi), sin(phi)*sin(psi) + cos(phi)*cos(psi)*sin(theta); - cos(theta)*sin(psi), cos(phi)*cos(psi) + sin(phi)*sin(psi)*sin(theta), cos(phi)*sin(psi)*sin(theta) - cos(psi)*sin(phi); - -sin(theta), cos(theta)*sin(phi), cos(phi)*cos(theta)] * pts; -end - -function pts = translate_3D(pts, pn, pe, pd) - pts = pts + repmat([pn;pe;pd], 1, size(pts,2)); -end \ No newline at end of file diff --git a/Src/simFiles/Visualization/plane_thesis_big.stl b/Src/simFiles/Visualization/plane_thesis_big.stl deleted file mode 100644 index e2fd0b8..0000000 --- a/Src/simFiles/Visualization/plane_thesis_big.stl +++ /dev/null @@ -1,20526 +0,0 @@ -solid ASCII - 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vertex -1.671147e-03 2.740910e+01 -2.200000e-01 - vertex -1.671611e-15 2.739000e+01 -2.200000e-01 - endloop - endfacet -endsolid diff --git a/Src/simFiles/Visualization/rndread.m b/Src/simFiles/Visualization/rndread.m deleted file mode 100644 index 0d1f31c..0000000 --- a/Src/simFiles/Visualization/rndread.m +++ /dev/null @@ -1,80 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function [fout, vout, cout] = rndread(filename) -% Reads CAD STL ASCII files, which most CAD programs can export. -% Used to create Matlab patches of CAD 3D data. -% Returns a vertex list and face list, for Matlab patch command. -% -% filename = 'hook.stl'; % Example file. -% -% Render files take the form: -% -%solid BLOCK -% color 1.000 1.000 1.000 -% facet -% normal 0.000000e+00 0.000000e+00 -1.000000e+00 -% normal 0.000000e+00 0.000000e+00 -1.000000e+00 -% normal 0.000000e+00 0.000000e+00 -1.000000e+00 -% outer loop -% vertex 5.000000e-01 -5.000000e-01 -5.000000e-01 -% vertex -5.000000e-01 -5.000000e-01 -5.000000e-01 -% vertex -5.000000e-01 5.000000e-01 -5.000000e-01 -% endloop -% endfacet -% -% The first line is object name, then comes multiple facet and vertex lines. -% A color specifier is next, followed by those faces of that color, until -% next color line. - -fid=fopen(filename, 'r'); %Open the file, assumes STL ASCII format. -if fid == -1 - error('File could not be opened, check name or path.') -end - -% CAD_object_name = sscanf(fgetl(fid), '%*s %s'); %CAD object name, if needed. %Some STLs have it, some don't. -vnum=0; %Vertex number counter. -report_num=0; %Report the status as we go. -VColor = 0; - -while feof(fid) == 0 % test for end of file, if not then do stuff - tline = fgetl(fid); % reads a line of data from file. - fword = sscanf(tline, '%s '); % make the line a character string -% Check for color - if strncmpi(fword, 'c',1) == 1; % Checking if a "C"olor line, as "C" is 1st char. - VColor = sscanf(tline, '%*s %f %f %f'); % & if a C, get the RGB color data of the face. - end % Keep this color, until the next color is used. - if strncmpi(fword, 'v',1) == 1; % Checking if a "V"ertex line, as "V" is 1st char. - vnum = vnum + 1; % If a V we count the # of V's - report_num = report_num + 1; % Report a counter, so long files show status - if report_num > 249; - %disp(sprintf('Reading vertix num: %d.',vnum)); - report_num = 0; - end - v(:,vnum) = sscanf(tline, '%*s %f %f %f'); % & if a V, get the XYZ data of it. - c(:,vnum) = VColor; % A color for each vertex, which will color the faces. - end % we "*s" skip the name "color" and get the data. -end - -% Build face list; The vertices are in order, so just number them. -fnum = vnum/3; %Number of faces, vnum is number of vertices. STL is triangles. -flist = 1:vnum; %Face list of vertices, all in order. -F = reshape(flist, 3,fnum); %Make a "3 by fnum" matrix of face list data. - -% Return the faces and vertexs. -fout = F'; %Orients the array for direct use in patch. -vout = v'; % " -cout = c'; - -fclose(fid); \ No newline at end of file diff --git a/Src/simFiles/Winch/WinchDynamicsAndControl.slx b/Src/simFiles/Winch/WinchDynamicsAndControl.slx deleted file mode 100644 index fc58180..0000000 Binary files a/Src/simFiles/Winch/WinchDynamicsAndControl.slx and /dev/null differ diff --git a/Src/simFiles/Winch/WinchDynamicsAndControl_R2018B.slx b/Src/simFiles/Winch/WinchDynamicsAndControl_R2018B.slx deleted file mode 100644 index 94f6ac5..0000000 Binary files a/Src/simFiles/Winch/WinchDynamicsAndControl_R2018B.slx and /dev/null differ diff --git a/initAllSimParams_DE2019.m b/initAllSimParams_DE2019.m deleted file mode 100644 index 7f351eb..0000000 --- a/initAllSimParams_DE2019.m +++ /dev/null @@ -1,239 +0,0 @@ -% Copyright 2020 Delft University of Technology -% -% Licensed under the Apache License, Version 2.0 (the "License"); -% you may not use this file except in compliance with the License. -% You may obtain a copy of the License at -% -% http://www.apache.org/licenses/LICENSE-2.0 -% -% Unless required by applicable law or agreed to in writing, software -% distributed under the License is distributed on an "AS IS" BASIS, -% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -% See the License for the specific language governing permissions and -% limitations under the License. - -function [base_windspeed, constr, ENVMT, Lbooth, ... - loiterStates, DE2019, simInit, T, winchParameter,params] = initAllSimParams_DE2019() -%initAllSimParams_DE2019 - Initialise simulation parameters for the complete system -% -% Syntax: [act, base_windspeed, constr, ENVMT, Lbooth, ... -% loiterStates, DE2019, simInit, T, winchParameter,params] = initAllSimParams_Dylan_v2() -% -% Inputs: -% input1 - None -% -% Outputs: -% act - Actuator, aileron elevator and rudder data -% base_windspeed - 6m altitude constant ground wind speed -% constr - Aircraft manoeuvre and winch constraints -% ENVMT - Environmental parameters -% Lbooth - Flight path parameters -% loiterStates - Initial loiter parameters (power cycle initialisation) -% DE2019 - Aircraft parameters -% simInit - Simulation initialisation parameters -% T - Tether dimensions and material properties -% winchParameter - Winch dynamic parameters -% params - Flight/Winch controller parameters -% -% Example: -% [act, base_windspeed, constr, ENVMT, Lbooth, ... -% loiterStates, DE2019, simInit, T, winchParameter,params] = initAllSimParams_Dylan_v2() -% -% Other m-files required: transformFromWtoO.m, transformFromOtoW.m, -% getPointOnBooth -% -% Subfunctions: none -% -% MAT-files required: DE2019_params.mat -% Control_allocation_V60.mat -% -% Author: Dylan Eijkelhof, M.Sc. -% Delft University of Technology -% email address: d.eijkelhof@tudelft.nl -% December 2019; Last revision: 09-Oct-2020 - -%------------- BEGIN CODE -------------- -%% Obtain large-scale wing params -load('DE2019_params.mat','DE2019','constraintOut'); - -%% Environment struct -ENVMT.g= 9.8066; -ENVMT.rhos= 1.2250; -ENVMT.windDirection_rad= 3.1416; - -%% Winspeed measured at 6m altitude -base_windspeed = 12; % - -%% Initialization parameters -simInit.TSIM = 1200; % Maximum simulation time -simInit.dt= 2.5000e-04; % Fixed-step size - -simInit.FtLoggingTs = 0.01; %Tether force logging sample time -simInit.vWLoggingTs = 0.01; %Wind speed logging sample time -simInit.CteLoggingTs = 0.2; %cross-track error logging sample time -simInit.AttLoggingTs = 0.5; %Attitude (alpha, beta) logging sample time -simInit.GSLoggingTs = 0.5; %Glide slope error logging sample time -simInit.PLoggingTs = 0.01; %Power logging sample time, others use the same -simInit.Ts_power_conv_check = 0.1; %Power convergence check sample time - -% Aircraft position and attitude -pos_init_W = [200;75;200]; -simInit.pos_O_init = transformFromWtoO(ENVMT.windDirection_rad, pos_init_W)'; %[-200,0,-250]; -simInit.vel_B_init= [50;0;0]; -psi_init = ENVMT.windDirection_rad+pi; -if psi_init > pi - psi_init = ENVMT.windDirection_rad-pi; -end -simInit.eta_init = [0;0;psi_init];% Theta = theta_, -simInit.tether_inital_lenght = norm( simInit.pos_O_init)+1; -simInit.pos_W_init = transformFromOtoW(ENVMT.windDirection_rad, simInit.pos_O_init'); -simInit.long_init = atan2( simInit.pos_W_init(2), simInit.pos_W_init(1) ); -simInit.lat_init = asin( simInit.pos_W_init(3)/norm(simInit.pos_W_init) ); - -%% Constrainst -constr.mu_a_max= deg2rad(60); -constr.mu_a_min= -constr.mu_a_max; - -alphawing = deg2rad(DE2019.initAircraft.alpha)'; -liftwing = DE2019.initAircraft.wing_cL_Static'; -[~, ind] = unique(liftwing); - -constr.alpha_a_max= alphawing(ind(end)); -constr.alpha_a_min= deg2rad(-15);%alphawing(ind(2)-1); - -constr.mu_a_max_retraction= 0.7854; -constr.gamma_min_retraction = -20; %degrees -constr.gamma_max_retraction = 10; %degrees -% Maximum lift generated by aircraft -constr.max_lift= constraintOut.buckling; - -constr.max_delta_mu= 0.1745; -constr.mu_k_max= 1.0472; -constr.max_rates_B = deg2rad(50); - -% Maximum tether force -constr.F_T_max= 0.9*constr.max_lift; - -constr.Va_min= 15; -constr.max_CL= 2.5; -constr.min_CL= -2.5; -constr.min_altitude_pc= 100; -constr.winchParameter.a_max= 5; -constr.winchParameter.a_min= -5; % winch acceleration limits -constr.winchParameter.v_max= 25; % winch reelout speed limits. -constr.winchParameter.v_min=-25; - -%% Tether parameters -SFt = 1.5; % Safety Factor -sigmat = 3.6*10^9;% tensile strength Dyneema 1.15 in thesis but 3.6 kitepower -DE2019.d_tether = sqrt(constr.F_T_max/(sigmat/(4/pi*SFt))); - -rho_dyneema = 970; %kg/m3 -DE2019.rho_tether = rho_dyneema * (pi/4*DE2019.d_tether^2); %kg/m -DE2019.Cd_tether = 1.2000; -DE2019.rho_air = 1.2250; - -% Uwes paper -T.c0 = 614600 ; -T.d0 = 473; -T.rho_t = DE2019.rho_tether; -T.d_tether = DE2019.d_tether; -T.CD_tether = DE2019.Cd_tether; -T.np = 5; % Needs convergence study - -T.l0 = simInit.tether_inital_lenght/(T.np+1); -simInit.pos_p_init = []; -e_t = simInit.pos_W_init/norm(simInit.pos_W_init); -for p = 1 : T.np - simInit.pos_p_init = [simInit.pos_p_init; p*e_t*T.l0]; -end -simInit.vel_p_init = 0 * simInit.pos_p_init; - -%% Winch parameters -%TU Delft parameters from a paper (need to find it again) -simInit.lj_dot_init = 0; %initial reel-out speed -winchParameter.radius = 0.4; -winchParameter.inertia = 0.656; -winchParameter.friction = 0.799; %dynamic friction -simInit.winch_angle_init = simInit.tether_inital_lenght/winchParameter.radius; - -%% Flightpath parameter -params.a_booth=0.85; -params.b_booth=250; -params.phi0_booth =0.53815; - -params.l_tether_max=1400; -params.l_tether_min=250; - -params.initial_path_elevation =70; -params.w0_decrease_init_phi0 =0.2; -params.transition_phi =42.9883; % set the elevation of the transition figure - -%% Tetherforce set point -params.F_t_traction_set=890773.2773; -params.F_t_retraction_set=49947.3262; -loiterStates.Ft_set_loiter=166491.0873; %During initialisation too - -params.ft_smooth_1= 2.5000e-04; % Tether set point slow increase parameter (state machine) -params.ft_smooth_2=2.2156e-05; % Tether set point slow increase parameter (state machine) -params.ft_smooth_3= 0.01000; % Tether set point slow increase parameter (state machine) - -%% Control parameters - -params.w0_chi_retraction_max= 1.27538229277844; -params.w0_gamma_retraction_max= 1.39070944789847; - -params.Kp_chi_k_traction=4.1309;%1; -params.Kp_gamma_k_traction =2.8286; - -params.Kp_chi_retraction=8.7626;%2.05590080982183; -params.Kp_gamma_retraction =4.825; -params.Ki_chi_retraction= 0.588995468858806; -params.Ki_gamma_retraction= 0; - -params.Kp_mu=4.4495; -params.Kp_alpha=9.9514; -params.Kp_beta= .1; -params.Ki_mu= 0; % forced to zero in sim -params.Ki_alpha= 0.1000; -params.Ki_beta= 0; % forced to zero in sim - -params.kp_winch=1.2527; -params.ki_winch=0; - -params.crosstrackerror_condition= 10; -params.w0SpeedControl= 0.5000; -params.kp_speed_control= 5; -params.ki_speed_control= 5; - - -params.r_retraction= 100; -params.kp_delta_course= 0.0500; -params.kp_delta_gamma= 0.0600; -params.v_k_min= 10; -params.dvk= 5; -params.v_k_speed_by_pitch= 20; -params.kp_speed_by_pitch= 1; -params.delta0_offset= 0.1500; -params.delta0_slope= 0; - -params.w0_mu= 6; -params.w0_alpha= 6; - -%% Parameters of the loitering state (initialisation phase) -loiterStates.Va_set= 61.5760820248188; -loiterStates.kp_h= 0.1000; - -loiterStates.R= 100; -loiterStates.pos_OLoiter_W= [100;0;200]; -loiterStates.validTransReg_start= -3.1416; %-pi -loiterStates.validTransReg_end= -1.3963; %-11*pi/25 - - -%% Lemniscate parameter initialisation, no need to be changed -Lbooth.a= 0; %initialisation of variable -Lbooth.b= 0; %initialisation of variable -Lbooth.phi0= 0; %initialisation of variable -Lbooth.init_sol= 3.9270; %5*pi/4 -%------------- END CODE -------------- -end \ No newline at end of file