obsidian_backup/多体求解器debug/多体+水动 platform+tower debug.md

# 结果监视2个量

- TwrTpTDzi
	- Tower-top / yaw bearing axial (translational) deflection (relative to the undeflected position) including all platform motions

- YawBrTVzp
	- Tower-top / yaw bearing axial (translational) **velocity** (absolute)


##  TwrTpTDzi
```
m%AllOuts(TwrTpTDxi) =     m%RtHS%rO(1) - y%TowerLn2Mesh%Position(1,J)
m%AllOuts(TwrTpTDzi) =     m%RtHS%rO(2) - y%TowerLn2Mesh%Position(3,J) + p%PtfmRefzt
```

rO      !< Position vector from inertial frame origin to tower-top / base plate (point O) [m]

# YawBrTVzp Yaw平动速度
```

m%AllOuts(YawBrTVzp) =  DOT_PRODUCT( m%RtHS%LinVelEO, m%CoordSys%b2 )
```

LinVelEO      !< Linear velocity of the base plate (point O) in the inertia frame (body E for earth) [-]
b2      !< Vector / direction b2 (=  zp from the IEC coord. system) [-]

### LinVelEO 少许差距
```
rt_hs.lin_vel_eo = lin_vel_x_o.clone() + rt_hs.lin_vel_ez.clone();
for i in 0..NPX{
	rt_hs.lin_vel_eo = rt_hs.lin_vel_eo.clone() + x.qdt[PX[i] as usize - 1] * rt_hs.plin_vel_eo.slice(s![PX[i] - 1, 0, ..]).to_owned();
}
```
LinVelXO  (3)     ! "Relative linear velocity of the tower-top / base plate (point O) in the platform (body X)"
LinVelEZ      !< Linear velocity of platform reference (point Z) in the inertia frame [-]

LinVelEO      !< Linear velocity of the base plate (point O) in the inertia frame (body E for earth) [-]


解得QDT少量差距，导致LinVelEO差距