59 lines
2.4 KiB
Markdown
59 lines
2.4 KiB
Markdown
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# 结果监视6个量
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- TwrTpTDxi
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- 塔架顶点/偏航轴前后（平移）偏转量（相对于未偏转位置），包括所有平台运动
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- TwrTpTDzi
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- Tower-top / yaw bearing axial (translational) deflection (relative to the undeflected position) including all platform motions
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- YawBrTVxp
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- Tower-top / yaw bearing fore-aft (translational) **velocity** (absolute)
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- YawBrTVzp
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- Tower-top / yaw bearing axial (translational) **velocity** (absolute)
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- PtfmRDyi
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- Platform pitch tilt angular (rotational) displacement. In ADAMS, it is output as an Euler angle computed as the 2nd rotation in the yaw-pitch-roll rotation sequence. It is not output as an Euler angle in FAST, which assumes small rotational platform displacements, so that the rotation sequence does not matter.
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- 平台俯仰倾斜角位移（旋转）。在 ADAMS 中，它作为欧拉角输出，计算为 yaw-pitch-roll 旋转序列中的第二个旋转。在 FAST 中，它不以欧拉角输出，因为 FAST 假设平台的旋转位移很小，因此旋转顺序无关紧要。
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- PtfmRVyt
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- Platform pitch tilt angular (rotational) velocity
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## TwrTpTDzi
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```
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m%AllOuts(TwrTpTDxi) = m%RtHS%rO(1) - y%TowerLn2Mesh%Position(1,J)
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m%AllOuts(TwrTpTDzi) = m%RtHS%rO(2) - y%TowerLn2Mesh%Position(3,J) + p%PtfmRefzt
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```
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rO !< Position vector from inertial frame origin to tower-top / base plate (point O) [m]
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## YawBrTVxp YawBrTVzp 前后 Yaw平动速度
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```
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m%AllOuts(YawBrTVxp) = DOT_PRODUCT( m%RtHS%LinVelEO, m%CoordSys%b1 )
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m%AllOuts(YawBrTVzp) = DOT_PRODUCT( m%RtHS%LinVelEO, m%CoordSys%b2 )
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```
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LinVelEO !< Linear velocity of the base plate (point O) in the inertia frame (body E for earth) [-]
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b1 !< Vector / direction b1 (= xp from the IEC coord. system) [-]
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b2 !< Vector / direction b2 (= zp from the IEC coord. system) [-]
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### LinVelEO 差距较大
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```
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rt_hs.lin_vel_eo = lin_vel_x_o.clone() + rt_hs.lin_vel_ez.clone();
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for i in 0..NPX{
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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();
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}
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```
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#### lin_vel_x_o有差距
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#### rt_hs.lin_vel_ez有差距
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### b1[3]少许差距
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# pitch 角度 角速度
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```
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m%AllOuts( PtfmRDyi) = x%QT (DOF_P )*R2D
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m%AllOuts( PtfmRVyt) = -DOT_PRODUCT( m%RtHS%AngVelEX, m%CoordSys%a3 )*R2D
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```
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AngVelEX !< Angular velocity of the platform (body X) in the inertia frame (body E for earth) [-]
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a3 !< Vector / direction a3 (= -yt from the IEC coord. system) [-]
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