vault backup: 2025-09-01 09:13:16

多体+耦合求解器/CaseToolBox项目学习/casetoolbox项目分析.md

@@ -8,7 +8,7 @@ casetoolbox
 ```
 
 
-# casestab包分析
+# 1. casestab包分析
 ```
 
 casetoolbox/casestab/
@@ -33,42 +33,42 @@ casetoolbox/casestab/
 
 - __`casetoolbox/casestab/__init__.py`__: 这是一个空的 `__init__.py` 文件，表明 `casestab` 是一个 Python 包。
 
-- __`casetoolbox/casestab/aerodynamics.py`__: 该文件定义了风力涡轮机叶片的空气动力学模型和状态，包括 `aero_blade` 和 `aero_calc_point` 类，以及用于读取和插值翼型极线数据的函数。
+- __`casetoolbox/casestab/aerodynamics.py`__: 该文件定义了风电机组叶片的空气动力学模型和状态，包括 `aero_blade` 和 `aero_calc_point` 类，以及用于读取和插值翼型极线数据的函数。
 
-- __`casetoolbox/casestab/casestab.py`__: 这是 `CASEStab` 项目的核心文件，负责风力涡轮机转子的稳态计算和变桨曲线调优。它通过 `rotor_models` 类组装整个模型，并执行稳态分析和优化。
+- __`casetoolbox/casestab/casestab.py`__: 这是 `CASEStab` 项目的核心文件，负责风电机组风轮的稳态计算和变桨曲线调优。它通过 `rotor_models` 类组装整个模型，并执行稳态分析和优化。
 
 - __`casetoolbox/casestab/corotbeam_precompiled_functions.py`__: 该文件包含使用 Numba 进行 JIT 编译的底层数学和力学函数，用于处理共旋转梁单元的复杂运动学和动力学计算，以提高性能。
 
 - __`casetoolbox/casestab/corotbeam.py`__: 该文件实现了共旋转梁单元的有限元公式，定义了梁单元的运动学、静力学和动力学行为，并提供了从结构输入文件创建单元、更新单元状态、计算内部力和刚度、更新惯性以及处理气动弹性耦合的完整框架。
 
-- __`casetoolbox/casestab/generic_model_components.py`__: 该文件定义了用于构建和管理复杂系统（如风力涡轮机模型）的通用模型组件，特别是与惯性、气动弹性耦合和轴承相关的组件。
+- __`casetoolbox/casestab/generic_model_components.py`__: 该文件定义了用于构建和管理复杂系统（如风电机组模型）的通用模型组件，特别是与惯性、气动弹性耦合和轴承相关的组件。
 
 - __`casetoolbox/casestab/HAWC2_blade_translator.py`__: 该文件负责读取 HAWC2 模型文件，并将其结构和气动数据转换为 `CASEStab` 所需的格式，实现了与 HAWC2 的互操作性。
 
 - __`casetoolbox/casestab/math_functions.py`__: 该文件提供了一系列用于三维旋转、向量操作和数据插值的数学函数，其中一些使用 Numba 进行 JIT 编译以提高性能。
 
-- __`casetoolbox/casestab/model_assembler.py`__: 该文件负责将风力涡轮机模型的各个部分（子结构、叶片、转子、尾流、风）组装成一个完整的系统模型，并提供进行稳态分析和结果可视化的功能。
+- __`casetoolbox/casestab/model_assembler.py`__: 该文件负责将风电机组模型的各个部分（子结构、叶片、风轮、尾流、风）组装成一个完整的系统模型，并提供进行稳态分析和结果可视化的功能。
 
 - __`casetoolbox/casestab/model_precompiled_functions.py`__: 该文件包含使用 Numba 进行 JIT 编译的函数，主要用于计算模型中的离心力、陀螺矩阵和离心刚度矩阵，以提高性能。
 
-- __`casetoolbox/casestab/rigidbody.py`__: 该文件定义了一个简单的刚体子结构模型，主要用于表示模型中不发生变形的部分，例如风力涡轮机的轮毂或塔基。
+- __`casetoolbox/casestab/rigidbody.py`__: 该文件定义了一个简单的刚体子结构模型，主要用于表示模型中不发生变形的部分，例如风电机组的轮毂或塔基。
 
 - __`casetoolbox/casestab/timoshenko_beam_section.py`__: 该文件主要提供了用于处理 Timoshenko 梁截面属性的函数，特别是将截面属性转换为 6x6 柔度矩阵，以及在不同参考点之间转换矩阵。
 
-- __`casetoolbox/casestab/wake_model.py`__: 该文件主要负责风力涡轮机转子上的尾流模型，用于计算诱导速度，包括无诱导模型和轴对称诱导模型。
+- __`casetoolbox/casestab/wake_model.py`__: 该文件主要负责风电机组风轮上的尾流模型，用于计算诱导速度，包括无诱导模型和轴对称诱导模型。
 
-- __`casetoolbox/casestab/wind_model.py`__: 该文件主要负责定义风力涡轮机仿真中使用的风场模型，目前支持均匀风场。
+- __`casetoolbox/casestab/wind_model.py`__: 该文件主要负责定义风电机组仿真中使用的风场模型，目前支持均匀风场。
 
 
-## casestab/aerodynamics.py
+## 1.1. casestab/aerodynamics.py
 
-主要负责风力涡轮机叶片的空气动力学建模。
+主要负责风电机组叶片的空气动力学建模。
 
 __主要组成部分：__
 
 1. __`aero_blade` 类：__
 
-   - __目的：__ 表示风力涡轮机叶片的空气动力学模型和状态。
+   - __目的：__ 表示风电机组叶片的空气动力学模型和状态。
 
    - __初始化 (`__init__`)：__ 从指定的几何文件 (`geo_file`) 和翼型极线文件 (`pro_file`) 读取数据。它支持 HAWC2 和 Flex 两种极线文件格式。它对几何和极线数据进行插值，以创建空气动力学计算点 (`zaero`)。
 
@@ -95,26 +95,26 @@ __主要组成部分：__
    - `read_and_interpolate_HAWC2_polars(...)`：从 HAWC2 格式文件读取和插值翼型极线。
    - `read_and_interpolate_Flex_polars(...)`：从 Flex 格式文件读取和插值翼型极线。
 
-该文件提供了定义、初始化和计算风力涡轮机叶片空气动力学特性和力的核心功能，包括处理叶片几何、翼型极线和动态失速建模（尽管 unsteady_airfoil_dynamics 类被注释掉，表明它是一个正在进行的工作或未来功能）。它对于在 CASEStab 框架内模拟风力涡轮机的空气动力学行为至关重要。
+该文件提供了定义、初始化和计算风电机组叶片空气动力学特性和力的核心功能，包括处理叶片几何、翼型极线和动态失速建模（尽管 unsteady_airfoil_dynamics 类被注释掉，表明它是一个正在进行的工作或未来功能）。它对于在 CASEStab 框架内模拟风电机组的空气动力学行为至关重要。
 
 
-## casestab/casestab.py
+## 1.2. casestab/casestab.py
 
-主要负责风力涡轮机转子的稳态计算和变桨曲线调优。
+主要负责风电机组风轮的稳态计算和变桨曲线调优。
 
 __主要组成部分：__
 
 1. __`rotor_models` 类：__
 
-   - __目的：__ 计算轴对称转子变形的稳态，并提供变桨曲线调优功能。
+   - __目的：__ 计算轴对称风轮变形的稳态，并提供变桨曲线调优功能。
 
    - __初始化 (`__init__`)：__
 
-     - 读取一个 JSON 格式的输入文件 (`filename`)，该文件定义了风力涡轮机模型的各种参数。
+     - 读取一个 JSON 格式的输入文件 (`filename`)，该文件定义了风电机组模型的各种参数。
      - 根据 JSON 输入文件中的数据，定义并初始化模型的各个子结构（如轮毂 `hub` 和叶片 `blade`）。
      - 定义叶片的空气动力学参数（如几何文件、极线文件、插值方法等）。
      - 定义尾流模型 (`wake`) 和风模型 (`wind`)。
-     - 定义轴对称转子模型 (`rotor`)。
+     - 定义轴对称风轮模型 (`rotor`)。
      - 根据输入文件中的 `deflection` 标志设置是否包含变形计算。
      - 使用 `model_assembler` 模块中的 `ma.model` 类组装整个模型。
      - 如果提供了操作数据文件 (`operation` 字段)，则读取该文件并为每个操作点创建模型的深拷贝。
@@ -125,15 +125,15 @@ __主要组成部分：__
 
      - `save_steady_state_results(prefix='')`：将稳态计算结果（包括结构变形和气动 BEM 结果）保存到文件中。文件命名会包含风速、变桨角和转速信息。
 
-     - `tune_pitch_curve(...)`：这是一个核心功能，用于调优风力涡轮机的变桨曲线，以满足额定功率 (`Prated`)、推力限制 (`Tlimit`) 和失速裕度 (`StallMargin`) 等要求。
+     - `tune_pitch_curve(...)`：这是一个核心功能，用于调优风电机组的变桨曲线，以满足额定功率 (`Prated`)、推力限制 (`Tlimit`) 和失速裕度 (`StallMargin`) 等要求。
 
        - 它通过迭代的方式调整变桨角，每次迭代都会进行扰动运行和验证运行，以计算变桨角对功率、推力和失速裕度的梯度，并据此更新变桨角。
        - 支持绘制变桨、功率和推力曲线的迭代过程。
        - 最终将调优后的操作数据保存到 `.opt` 文件中，并附带调优原因和详细信息。
 
-casestab.py 是 CASEStab 应用程序的入口点和主要控制器。它负责从配置文件中读取模型定义，构建复杂的风力涡轮机模型，执行稳态分析，并提供高级功能，如自动调优变桨曲线以优化性能和满足运行限制。这使得用户能够对风力涡轮机在不同运行条件下的行为进行详细的模拟和优化。
+casestab.py 是 CASEStab 应用程序的入口点和主要控制器。它负责从配置文件中读取模型定义，构建复杂的风电机组模型，执行稳态分析，并提供高级功能，如自动调优变桨曲线以优化性能和满足运行限制。这使得用户能够对风电机组在不同运行条件下的行为进行详细的模拟和优化。
 
-## casestab/corotbeam_precompiled_functions.py
+## 1.3. casestab/corotbeam_precompiled_functions.py
 
 主要包含使用 Numba `njit` 装饰器进行即时 (JIT) 编译的函数，以提高性能。这些函数是用于处理共旋转梁单元（corotational beam elements）的底层数学和力学操作，这在结构动力学和有限元分析中非常常见。
 
@@ -188,9 +188,9 @@ __主要组成部分和功能：__
    - `compute_element_generalized_force_matrix(...)`：计算单元广义力矩阵。
    - `compute_element_stiffness_generalized_force_matrix(...)`：从稳态广义力计算单元刚度矩阵。
 
-该文件是 CASEStab 结构分析模块的性能关键部分。它提供了高效、预编译的函数，用于处理共旋转梁单元的复杂运动学和动力学计算，包括大位移和小应变。这些函数是构建和求解风力涡轮机结构模型的基础，确保了计算的准确性和效率。
+该文件是 CASEStab 结构分析模块的性能关键部分。它提供了高效、预编译的函数，用于处理共旋转梁单元的复杂运动学和动力学计算，包括大位移和小应变。这些函数是构建和求解风电机组结构模型的基础，确保了计算的准确性和效率。
 
-## casestab/corotbeam.py
+## 1.4. casestab/corotbeam.py
 
 实现了共旋转梁单元 (co-rotational beam element) 的公式，这是一种用于结构分析的非线性有限元方法，能够处理大位移和小应变。
 
@@ -203,7 +203,7 @@ __主要组成部分和功能：__
 
 2. __`corotbeam_substructure` 类：__
 
-   - __目的：__ 表示由共旋转平衡梁单元描述的结构体（例如风力涡轮机叶片）。
+   - __目的：__ 表示由共旋转平衡梁单元描述的结构体（例如风电机组叶片）。
 
    - __初始化 (`__init__`)：__
 
@@ -276,17 +276,17 @@ __主要组成部分和功能：__
      - `compute_element_stiffness_generalized_force_matrix(elem_model)`
      - `update_forcing_point_position_and_moment_arm_vectors(elem_state, elem_model)`
      - 
-corotbeam.py 文件是 CASEStab 中实现共旋转梁单元有限元分析的核心。它定义了梁单元的运动学、静力学和动力学行为，并提供了从结构输入文件创建单元、更新单元状态、计算内部力和刚度、更新惯性以及处理气动弹性耦合的完整框架。通过与预编译函数的结合，它旨在提供高效且准确的结构分析能力，特别适用于风力涡轮机叶片等柔性结构的建模。
+corotbeam.py 文件是 CASEStab 中实现共旋转梁单元有限元分析的核心。它定义了梁单元的运动学、静力学和动力学行为，并提供了从结构输入文件创建单元、更新单元状态、计算内部力和刚度、更新惯性以及处理气动弹性耦合的完整框架。通过与预编译函数的结合，它旨在提供高效且准确的结构分析能力，特别适用于风电机组叶片等柔性结构的建模。
 
-## casestab/generic_model_components.py
+## 1.5. casestab/generic_model_components.py
 
-定义了用于构建和管理复杂系统（如风力涡轮机模型）的通用模型组件，特别是与惯性、气动弹性耦合和轴承相关的组件。
+定义了用于构建和管理复杂系统（如风电机组模型）的通用模型组件，特别是与惯性、气动弹性耦合和轴承相关的组件。
 
 __主要组成部分和功能：__
 
 1. __`substructure_inertia` 类：__
 
-   - __目的：__ 封装子结构的惯性状态。在有限元分析中，子结构通常指模型中的一个独立部分（例如，风力涡轮机中的叶片、轮毂或塔架）。
+   - __目的：__ 封装子结构的惯性状态。在有限元分析中，子结构通常指模型中的一个独立部分（例如，风电机组中的叶片、轮毂或塔架）。
 
    - __初始化 (`__init__`)：__
 
@@ -348,11 +348,11 @@ __主要组成部分和功能：__
      - `constant_speed_bearing`：表示恒定速度轴承，以恒定角速度绕指定轴旋转。
      - 这些内部类都包含 `B`（旋转矩阵）、`dB`（旋转矩阵的一阶导数）、`ddB`（旋转矩阵的二阶导数）以及 `BTdB` 和 `BTddB`（辅助矩阵）等属性，并提供 `update(t)` 方法来更新其状态。
 
-generic_model_components.py 文件提供了构建复杂多体动力学模型所需的通用、可重用的组件。它抽象了惯性属性、气动弹性耦合点运动学和轴承行为的细节，使得在 CASEStab 中可以更模块化地组装和分析风力涡轮机等系统。通过将计算密集型操作委托给预编译函数，它也确保了性能。
+generic_model_components.py 文件提供了构建复杂多体动力学模型所需的通用、可重用的组件。它抽象了惯性属性、气动弹性耦合点运动学和轴承行为的细节，使得在 CASEStab 中可以更模块化地组装和分析风电机组等系统。通过将计算密集型操作委托给预编译函数，它也确保了性能。
 
-## casestab/HAWC2_blade_translator.py
+## 1.6. casestab/HAWC2_blade_translator.py
 
-主要负责读取 HAWC2（一种风力涡轮机仿真软件）模型文件，并将其结构和气动数据转换为 `CASEStab` 所需的格式。这对于在 `CASEStab` 中使用 HAWC2 定义的风力涡轮机模型进行分析至关重要。
+主要负责读取 HAWC2（一种风电机组仿真软件）模型文件，并将其结构和气动数据转换为 `CASEStab` 所需的格式。这对于在 `CASEStab` 中使用 HAWC2 定义的风电机组模型进行分析至关重要。
 
 __主要组成部分和功能：__
 
@@ -442,7 +442,7 @@ __主要组成部分和功能：__
      - 提取弦长和厚度信息 (`ct`)。
 
 
-## casestab/math_functions.py
+## 1.7. casestab/math_functions.py
 
 提供了一系列用于三维旋转、向量操作和数据插值的数学函数，这些函数在结构动力学和气动弹性分析中是基础性的。其中一些函数使用 Numba `njit` 装饰器进行即时 (JIT) 编译，以提高性能。
 
@@ -501,11 +501,11 @@ __主要组成部分和功能：__
        - `fcn(x)`：计算给定 `x` 值的插值结果。
        - `der(x)`：计算给定 `x` 值的导数。
 
-math_functions.py 文件是 CASEStab 项目的数学工具箱。它提供了处理三维几何、旋转和数据插值所需的基本和高级数学运算。通过使用 Numba 进行编译，这些函数旨在提供高性能的计算能力，这对于风力涡轮机结构和气动弹性分析中的复杂数值模拟至关重要。
+math_functions.py 文件是 CASEStab 项目的数学工具箱。它提供了处理三维几何、旋转和数据插值所需的基本和高级数学运算。通过使用 Numba 进行编译，这些函数旨在提供高性能的计算能力，这对于风电机组结构和气动弹性分析中的复杂数值模拟至关重要。
 
-## casestab/model_assembler.py
+## 1.8. casestab/model_assembler.py
 
-负责将风力涡轮机模型的各个部分（子结构、叶片、转子、尾流、风）组装成一个完整的系统模型，并提供进行稳态分析和结果可视化的功能。
+负责将风电机组模型的各个部分（子结构、叶片、风轮、尾流、风）组装成一个完整的系统模型，并提供进行稳态分析和结果可视化的功能。
 
 __主要组成部分和功能：__
 
@@ -524,33 +524,33 @@ __主要组成部分和功能：__
 
      - `compute_modes()`：计算子结构的结构模态（仅适用于柔性梁子结构）。它会设置质量和刚度矩阵，求解特征值问题，并对模态进行排序和命名。
      - `plot_substructure_modes(...)`：绘制子结构的模态形状。
-     - `create_data_for_deflection_state()`：创建用于结构变形状态输出的数据，包括叶片坐标系和转子平面内的变形以及旋转。
+     - `create_data_for_deflection_state()`：创建用于结构变形状态输出的数据，包括叶片坐标系和风轮平面内的变形以及旋转。
 
 2. __`rotor` 类：__
 
-   - __目的：__ 封装不同类型的转子模型（例如轴对称转子）。
+   - __目的：__ 封装不同类型的风轮模型（例如轴对称风轮）。
 
    - __初始化 (`__init__`)：__
 
      - 关联叶片 (`blades`) 和子结构 (`substructures`)。
      - 检查叶片的气动计算点 (ACP) 数量是否一致。
      - 关联风模型 (`wind`)。
-     - 保存转子中心的连接点信息。
-     - 计算转子平面在地面固定坐标系中的法向量 (`nvec`)。
-     - 初始化转子速度 (`omega`)、中心位置 (`rc0`) 和方向矩阵 (`Rc0`)。
+     - 保存风轮中心的连接点信息。
+     - 计算风轮平面在地面固定坐标系中的法向量 (`nvec`)。
+     - 初始化风轮速度 (`omega`)、中心位置 (`rc0`) 和方向矩阵 (`Rc0`)。
      - 初始化功率 (`power`)、扭矩 (`torque`)、推力 (`thrust`) 和功率系数 (`CP`)。
      - 计算 ACP 的径向位置 (`radii`) 和实度 (`sigma`)。
      - 创建尾流模型 (`wake_model.wake`)。
 
    - __方法：__
 
-     - `update_rotor_kinematic_state()`：更新转子的运动学状态，包括中心位置、方向和转子速度。
+     - `update_rotor_kinematic_state()`：更新风轮的运动学状态，包括中心位置、方向和风轮速度。
      - `update_steady_blade_forces()`：计算每个叶片上的稳态气动力，假设尾流处于平衡状态。这涉及到使用 `scipy.optimize.root` 求解 BEM（叶素动量理论）方程。
      - `create_data_for_BEM_results(iblade=0)`：创建用于 BEM 结果输出的数据，包括气动计算点的各种气动参数和力。
 
 3. __`model` 类：__
 
-   - __目的：__ 组装整个风力涡轮机模型。
+   - __目的：__ 组装整个风电机组模型。
 
    - __初始化 (`__init__`)：__
 
@@ -559,20 +559,20 @@ __主要组成部分和功能：__
      - 根据 `blade_para_set` 创建所有叶片实例，并将叶片与相应的子结构关联起来，初始化气动弹性耦合。
      - 初始化子结构在地面固定坐标系中的初始位置和方向。
      - 根据 `wind_para_set` 创建风场模型。
-     - 根据 `rotor_para_set` 创建转子模型，并将叶片、子结构、尾流和风模型传递给转子实例。
+     - 根据 `rotor_para_set` 创建风轮模型，并将叶片、子结构、尾流和风模型传递给风轮实例。
 
    - __方法：__
 
      - `update_all_substructures(t)`：在给定时间 `t` 更新所有子结构的状态，包括轴承、弹性内力、刚度、惯性状态、离心力和气动弹性耦合。
-     - `update_steady_state_all_rotors()`：更新所有转子的稳态气动力。
-     - `compute_rotor_stationary_steady_state(irotor, Rnorm_limit=1.0, include_deform=True)`：计算指定转子的稳态（静态外部力和内力之间的平衡）。这是一个迭代过程，它会反复更新气动力和结构变形，直到收敛。
+     - `update_steady_state_all_rotors()`：更新所有风轮的稳态气动力。
+     - `compute_rotor_stationary_steady_state(irotor, Rnorm_limit=1.0, include_deform=True)`：计算指定风轮的稳态（静态外部力和内力之间的平衡）。这是一个迭代过程，它会反复更新气动力和结构变形，直到收敛。
      - `compute_substructure_steady_state_deformation(isubs, Rnorm_limit=1.0)`：计算单个子结构的稳态变形。
      - `plot_aerodynamic_points(isubs, ielem, iblade)`：绘制气动计算点和结构节点的位置，用于可视化。
      - `plot_input_data_blade(iblade, fn='')`：绘制叶片的气动和结构输入数据，包括气动中心、质心、弹性轴、剪切中心等的位置。
 
-model_assembler.py 文件是 CASEStab 仿真框架的集成器。它将所有独立的物理模型（结构、气动、风、尾流、轴承）组合成一个连贯的系统，并提供了执行稳态分析和可视化结果的接口。这使得 CASEStab 能够对风力涡轮机进行全面的多物理场仿真。
+model_assembler.py 文件是 CASEStab 仿真框架的集成器。它将所有独立的物理模型（结构、气动、风、尾流、轴承）组合成一个连贯的系统，并提供了执行稳态分析和可视化结果的接口。这使得 CASEStab 能够对风电机组进行全面的多物理场仿真。
 
-## casestab/model_precompiled_functions.py
+## 1.9. casestab/model_precompiled_functions.py
 
 包含使用 Numba `njit` 装饰器进行即时 (JIT) 编译的函数，以及使用 `numba.pycc.CC` 进行提前 (AOT) 编译的设置。这些函数主要用于计算模型中的离心力、陀螺矩阵和离心刚度矩阵，这些是多体动力学仿真中的关键组成部分。
 
@@ -608,11 +608,11 @@ __主要组成部分和功能：__
 
      - __计算逻辑：__ 该函数通过遍历自由度，利用输入的各种导数和辅助矩阵，计算 `Fc`、`Gc` 和 `Kc` 的各个分量。它考虑了对称性，以填充矩阵的上下三角形。
 
-model_precompiled_functions.py 文件是 CASEStab 动力学分析模块的性能关键部分。它提供了高效、预编译的函数，用于计算旋转系统中由惯性引起的力和刚度效应。这些函数是构建和求解风力涡轮机动力学方程的基础，确保了计算的准确性和效率。通过提前编译，这些函数可以在 Python 环境之外运行，进一步优化了性能。
+model_precompiled_functions.py 文件是 CASEStab 动力学分析模块的性能关键部分。它提供了高效、预编译的函数，用于计算旋转系统中由惯性引起的力和刚度效应。这些函数是构建和求解风电机组动力学方程的基础，确保了计算的准确性和效率。通过提前编译，这些函数可以在 Python 环境之外运行，进一步优化了性能。
 
-## casestab/rigidbody.py
+## 1.10. casestab/rigidbody.py
 
-定义了一个简单的刚体子结构模型，主要用于表示模型中不发生变形的部分，例如风力涡轮机的轮毂或塔基。
+定义了一个简单的刚体子结构模型，主要用于表示模型中不发生变形的部分，例如风电机组的轮毂或塔基。
 
 __主要组成部分和功能：__
 
@@ -638,7 +638,7 @@ __主要组成部分和功能：__
 
 rigidbody.py 文件提供了一个轻量级的刚体模型，用于 CASEStab 中不需要详细结构变形分析的部分。它简化了模型，提高了计算效率，因为它避免了对这些部分进行复杂的有限元计算。
 
-## casestab/timoshenko_beam_section.py
+## 1.11. casestab/timoshenko_beam_section.py
 
 主要提供了用于处理 Timoshenko 梁截面属性的函数，特别是将截面属性转换为 6x6 柔度矩阵，以及在不同参考点之间转换矩阵。
 
@@ -687,9 +687,9 @@ __主要组成部分和功能：__
 
 timoshenko_beam_section.py 文件在 CASEStab 中扮演着关键角色，它使得程序能够处理和转换不同表示形式的梁截面属性。这对于构建准确的梁单元模型至关重要，因为它允许用户输入常见的工程参数（如杨氏模量、惯性矩等），并将其转换为有限元公式所需的柔度矩阵形式，同时还能处理不同参考点之间的转换。
 
-## casestab/wake_model.py
+## 1.12. casestab/wake_model.py
 
-主要负责风力涡轮机转子上的尾流模型，用于计算诱导速度。
+主要负责风电机组风轮上的尾流模型，用于计算诱导速度。
 
 __主要组成部分和功能：__
 
@@ -709,7 +709,7 @@ __主要组成部分和功能：__
    - __初始化 (`__init__`)：__
 
      - 初始化轴向诱导因子 `a`、切向诱导因子 `ap`、诱导速度 `vi` 及其时间导数 `dvidt` 为零。
-     - 保存半径 `radii`、叶尖修正标志 `tip_correction`、叶片数量 `nblades` 和转子半径 `R`。
+     - 保存半径 `radii`、叶尖修正标志 `tip_correction`、叶片数量 `nblades` 和风轮半径 `R`。
      - 初始化推力系数 `CT`、扭矩系数 `CQ`、入流角正弦 `sinphi`、局部叶尖速比 `local_TSR` 和叶尖损失因子 `ftip` 为零或一。
 
    - __`momentum_balance_point` 内部类：__
@@ -728,12 +728,12 @@ __主要组成部分和功能：__
 
 3. __`axissym_induction` 类：__
 
-   - __目的：__ 表示轴对称诱导尾流模型，这是更实际的风力涡轮机气动模型。
+   - __目的：__ 表示轴对称诱导尾流模型，这是更实际的风电机组气动模型。
 
    - __初始化 (`__init__`)：__
 
      - 初始化轴向诱导因子 `a`、切向诱导因子 `ap`、诱导速度 `vi` 及其时间导数 `dvidt`。
-     - 保存半径 `radii`、叶尖修正标志 `tip_correction`、叶片数量 `nblades` 和转子半径 `R`。
+     - 保存半径 `radii`、叶尖修正标志 `tip_correction`、叶片数量 `nblades` 和风轮半径 `R`。
      - 根据 `para['a_of_CT_model']` 选择轴向诱导因子与推力系数的关系模型（例如 `HAWC2_a_of_CT`）。
      - 初始化推力系数 `CT`、扭矩系数 `CQ`、入流角正弦 `sinphi`、局部叶尖速比 `local_TSR` 和叶尖损失因子 `ftip`。
 
@@ -777,11 +777,11 @@ __主要组成部分和功能：__
      - `fcn(CQ, a)`：根据 `CQ` 和 `a` 返回切向诱导因子 `ap`，考虑了 `a` 大于 0.9 的特殊情况。
      - `der(CQ, a)`：计算 `ap` 对 `CQ` 和 `a` 的偏导数。
 
-wake_model.py 文件是 CASEStab 中风力涡轮机气动弹性分析的关键组成部分。它提供了不同复杂程度的尾流模型，特别是轴对称诱导模型，该模型通过求解非线性方程组来计算叶片上的诱导速度和气动力。这些模型对于准确预测风力涡轮机的性能和载荷至关重要。
+wake_model.py 文件是 CASEStab 中风电机组气动弹性分析的关键组成部分。它提供了不同复杂程度的尾流模型，特别是轴对称诱导模型，该模型通过求解非线性方程组来计算叶片上的诱导速度和气动力。这些模型对于准确预测风电机组的性能和载荷至关重要。
 
-## casestab/wind_model.py
+## 1.13. casestab/wind_model.py
 
-主要负责定义风力涡轮机仿真中使用的风场模型。
+主要负责定义风电机组仿真中使用的风场模型。
 
 __主要组成部分和功能：__
 
@@ -807,10 +807,10 @@ __主要组成部分和功能：__
      - __目的：__ 在给定位置 `pos` (x, y, z) 和时间 `t` 处返回风速向量 (u, v, w)。
      - __功能：__ 对于均匀风场，它返回一个固定方向（在此实现中是 y 方向）和大小为 `umean` 的风速向量。其他分量为零。
 
-wind_model.py 文件为 CASEStab 仿真提供了风场输入。它允许用户定义不同类型的风场（目前仅支持均匀风），并提供一个接口来查询在模型中任意位置和时间点的风速。这对于计算风力涡轮机上的气动力和进行气动弹性分析至关重要。
+wind_model.py 文件为 CASEStab 仿真提供了风场输入。它允许用户定义不同类型的风场（目前仅支持均匀风），并提供一个接口来查询在模型中任意位置和时间点的风速。这对于计算风电机组上的气动力和进行气动弹性分析至关重要。
 
 
-# casedamp包分析
+# 2. casedamp包分析
 
 ```
 casetoolbox/casedamp/
@@ -820,9 +820,9 @@ casetoolbox/casedamp/
 └── test/
 ```
 
-## casedamp/casedamp_precompiled_functions.py
+## 2.1. casedamp/casedamp_precompiled_functions.py
 
-主要包含使用 Numba `njit` 装饰器进行即时 (JIT) 编译的函数，以及使用 `numba.pycc.CC` 进行提前 (AOT) 编译的设置。这些函数专门用于计算风力涡轮机叶片的气动阻尼系数。
+主要包含使用 Numba `njit` 装饰器进行即时 (JIT) 编译的函数，以及使用 `numba.pycc.CC` 进行提前 (AOT) 编译的设置。这些函数专门用于计算风电机组叶片的气动阻尼系数。
 
 __主要组成部分和功能：__
 
@@ -860,9 +860,9 @@ __主要组成部分和功能：__
 
      - __计算逻辑：__ 该函数将四个基本阻尼分量与无量纲速度、几何参数和入流角结合起来，计算出最终的综合气动阻尼系数 `eta`。
 
-casedamp_precompiled_functions.py 文件是 CASEDamp 模块的性能关键部分。它提供了高效、预编译的函数，用于执行气动阻尼计算中涉及的复杂数学运算。这些函数是评估风力涡轮机叶片气动阻尼特性的核心，对于理解和预测叶片的动态响应至关重要。通过提前编译，这些函数可以在 Python 环境之外运行，从而显著提高了计算效率。
+casedamp_precompiled_functions.py 文件是 CASEDamp 模块的性能关键部分。它提供了高效、预编译的函数，用于执行气动阻尼计算中涉及的复杂数学运算。这些函数是评估风电机组叶片气动阻尼特性的核心，对于理解和预测叶片的动态响应至关重要。通过提前编译，这些函数可以在 Python 环境之外运行，从而显著提高了计算效率。
 
-## casedamp/casedamp.py
+## 2.2. casedamp/casedamp.py
 
 
 提供了一个交互式工具，用于分析和编辑翼型极线（升力系数 CL 和阻力系数 CD 曲线），并计算其气动阻尼特性。
@@ -932,7 +932,7 @@ __主要组成部分和功能：__
    - __功能：__ 尝试读取 HAWC2 或 Flex 格式的极线文件，然后实例化 `aero_damp_analyzer` 类并显示交互式绘图界面。
 
 
-# 计算稳态运行状态叶片模态、频率
+# 3. 计算稳态运行状态叶片模态、频率
 
 从`structural_blade_modes_H2_elements.py`入口，该程序计算了DTU 10MW风电机组在standstill、风速为0，转速10rpm、风速11m/s，转速9.6rpm三种工况下叶片的十阶模态频率和形状，并于hawc2软件计算结果对比。
 
@@ -942,7 +942,7 @@ __1. 初始化和设置：__
 
 - `os.getcwd()`: 获取当前工作目录，用于构建输入和输出文件的路径。
 - `os.path.join(work_folder, 'DTU10MW_H2_elements_few_ops.json')`: 将工作目录路径与文件名连接起来，创建 JSON 配置文件的完整路径。
-- `casestab.rotor_models(...)`: 通过从指定的 JSON 文件加载风力涡轮机模型配置来初始化 `rotor_models` 对象。此对象包含整个涡轮机的定义，包括其子结构（如叶片）。
+- `casestab.rotor_models(...)`: 通过从指定的 JSON 文件加载风电机组模型配置来初始化 `rotor_models` 对象。此对象包含整个涡轮机的定义，包括其子结构（如叶片）。
 
 __2. 静止叶片结构模态（第一个运行工况）：__
 
@@ -965,14 +965,14 @@ __3. 额定转速下的叶片结构模态（第二个运行工况）：__
 __4. 11 米/秒风速下偏转叶片的结构模态（第三个运行工况）：__
 
 - `rotor_models.models[2].substructures[1]`: 从第三个运行模型（索引 2）中选择叶片子结构。
-- `rotor_models.models[2].compute_rotor_stationary_steady_state(0)`: 计算整个转子模型在 11 米/秒风速下的静止稳态。这涉及计算转子在气动载荷和重力载荷共同作用下的平衡位置，这会影响叶片的结构行为。
+- `rotor_models.models[2].compute_rotor_stationary_steady_state(0)`: 计算整个风轮模型在 11 米/秒风速下的静止稳态。这涉及计算风轮在气动载荷和重力载荷共同作用下的平衡位置，这会影响叶片的结构行为。
 - `blade.compute_modes()`: 在 11 米/秒运行条件下计算叶片的结构模态。
 - `np.loadtxt(...)`, `np.zeros(...)`, `np.radians(...)`: 这些函数再次用于加载、处理和准备 HAWCStab2 结果 (`blade_11ms.amp`) 以进行比较。
 - `blade.plot_substructure_modes(...)`: 绘制 11 米/秒运行工况下的模态，比较 CASEStab 和 HAWCStab2 的结果。
 
-### update_all_substructures函数
+## 3.1. update_all_substructures函数
 
-这个函数位于 `casetoolbox/casestab/model_assembler.py` 中的 `model` 类中。它的主要目的是在给定时间 `t` 的情况下，更新模型中所有子结构（substructures）的当前位置、方向、内部力和惯性状态。这对于模拟风力涡轮机在不同运行条件下的动态行为至关重要。
+这个函数位于 `casetoolbox/casestab/model_assembler.py` 中的 `model` 类中。它的主要目的是在给定时间 `t` 的情况下，更新模型中所有子结构（substructures）的当前位置、方向、内部力和惯性状态。这对于模拟风电机组在不同运行条件下的动态行为至关重要。
 
 __功能概述：__
 
@@ -1012,17 +1012,17 @@ __功能概述：__
 
  `update_all_substructures` 是一个核心函数，它在每个时间步或每次迭代中被调用，以确保模型中所有子结构的几何、力学和惯性状态都得到准确更新，为后续的动力学或模态分析提供正确的基础。
 
-## compute_rotor_stationary_steady_state 函数
+## 3.2. compute_rotor_stationary_steady_state 函数
 
-这个函数位于 `casetoolbox/casestab/model_assembler.py` 中的 `model` 类中。它的主要目的是计算转子在静止稳态下的变形和力平衡。这通常涉及到迭代求解气动载荷和结构变形之间的耦合问题，直到达到收敛。
+这个函数位于 `casetoolbox/casestab/model_assembler.py` 中的 `model` 类中。它的主要目的是计算风轮在静止稳态下的变形和力平衡。这通常涉及到迭代求解气动载荷和结构变形之间的耦合问题，直到达到收敛。
 
 __功能概述：__
 
-该函数通过一个迭代过程来寻找转子的静止稳态，即在给定风速和操作条件下，气动力和结构内部力达到平衡时的变形状态。
+该函数通过一个迭代过程来寻找风轮的静止稳态，即在给定风速和操作条件下，气动力和结构内部力达到平衡时的变形状态。
 
 __参数：__
 
-- `irotor`: 要计算的转子的索引。
+- `irotor`: 要计算的风轮的索引。
 - `Rnorm_limit`: 残差的收敛容差。当力平衡残差的范数低于此值时，迭代停止。
 - `include_deform`: 布尔值，指示是否在迭代中考虑结构变形。如果为 `False`，则只计算气动力，不更新结构变形。
 
@@ -1032,20 +1032,20 @@ __工作流程和关键步骤：__
 
    - 在开始迭代之前，首先调用 `update_all_substructures(0.0)`。这会初始化所有子结构在时间 `t=0.0` 时的位置、方向、内部力和惯性状态。这是稳态计算的起点。
 
-2. __指向目标转子和叶片：__
+2. __指向目标风轮和叶片：__
 
-   - `r = self.rotors[irotor]`: 获取要分析的特定转子对象。
-   - `b = r.blades[0]`: 由于稳态计算假设转子是轴对称的（`axissym`），因此通常只使用第一个叶片的数据进行计算，然后将结果乘以叶片数量。
+   - `r = self.rotors[irotor]`: 获取要分析的特定风轮对象。
+   - `b = r.blades[0]`: 由于稳态计算假设风轮是轴对称的（`axissym`），因此通常只使用第一个叶片的数据进行计算，然后将结果乘以叶片数量。
 
 3. __外层迭代（气动力收敛循环）：__
 
    - `while Anorm > Rnorm_limit:`: 这是一个外层循环，用于确保气动力的分布在迭代过程中收敛。`Anorm` 代表气动力变化的范数。
 
-   - __重置功率和推力：__ 在每次外层迭代开始时，将转子的功率 (`r.power`) 和推力 (`r.thrust`) 重置为零。
+   - __重置功率和推力：__ 在每次外层迭代开始时，将风轮的功率 (`r.power`) 和推力 (`r.thrust`) 重置为零。
 
    - __更新稳态叶片力 (`self.update_steady_state_all_rotors()`)：__
 
-     - 这个调用会更新所有转子上的气动力。对于每个叶片，它会调用 `rotor.update_steady_blade_forces()`。
+     - 这个调用会更新所有风轮上的气动力。对于每个叶片，它会调用 `rotor.update_steady_blade_forces()`。
      - `rotor.update_steady_blade_forces()` 内部会使用 BEM（叶素动量理论）方法，通过 `scipy.optimize.root` 求解每个气动计算点（ACP）处的轴向和切向诱导因子，从而计算出气动力和力矩。这个过程本身可能包含一个内部的求解循环。
 
 4. __内层迭代（结构变形收敛循环）：__
@@ -1076,19 +1076,19 @@ __工作流程和关键步骤：__
 
 5. __更新功率和推力：__
 
-   - 在内层循环收敛后，根据当前的力分布计算转子的总功率 (`r.power`) 和推力 (`r.thrust`)。这涉及到将子结构坐标系中的力转换到地面固定坐标系，并与速度和角速度相乘。
+   - 在内层循环收敛后，根据当前的力分布计算风轮的总功率 (`r.power`) 和推力 (`r.thrust`)。这涉及到将子结构坐标系中的力转换到地面固定坐标系，并与速度和角速度相乘。
 
 6. __检查外层收敛：__
 
    - `Anorm=np.linalg.norm(b.f-force0)`: 计算当前气动力分布与上一次外层迭代开始时的气动力分布之间的差异范数。如果 `include_deform` 为 `True`，则此值用于判断外层循环是否收敛。
    - 如果 `include_deform` 为 `False`，则 `Anorm` 被设置为 0，表示只进行一次气动力计算，不考虑变形对气动力的影响。
 
-7. __轴对称转子处理：__
+7. __轴对称风轮处理：__
 
-   - 如果转子是轴对称的（`'axissym' in r.type`），则最终的功率和推力会乘以叶片数量 `r.Nb`，因为计算是基于单个叶片的。
-   - `r.CP = r.power/Pkin`: 计算功率系数 `CP`，这是风力涡轮机性能的关键指标。
+   - 如果风轮是轴对称的（`'axissym' in r.type`），则最终的功率和推力会乘以叶片数量 `r.Nb`，因为计算是基于单个叶片的。
+   - `r.CP = r.power/Pkin`: 计算功率系数 `CP`，这是风电机组性能的关键指标。
 
-## `compute_modes` 函数
+## 3.3. `compute_modes` 函数
 
 这个函数位于 `casetoolbox/casestab/model_assembler.py` 中的 `substructure` 类中。它的主要目的是计算子结构的结构模态（固有频率和模态形状）。
 
@@ -1132,3 +1132,4 @@ __功能概述：__
 
 `compute_modes` 函数是进行结构动力学分析的核心，它通过求解特征值问题来确定柔性子结构的固有振动特性，这些特性对于理解结构响应和避免共振至关重要。
 
+

多体+耦合求解器/SD ED AD 流程及数据交互/一阶传递函数.excalidraw.md

@@ -0,0 +1,936 @@
+---
+
+excalidraw-plugin: parsed
+tags: [excalidraw]
+
+---
+==⚠  Switch to EXCALIDRAW VIEW in the MORE OPTIONS menu of this document. ⚠== You can decompress Drawing data with the command palette: 'Decompress current Excalidraw file'. For more info check in plugin settings under 'Saving'
+
+
+# Excalidraw Data
+
+## Text Elements
+%%
+## Drawing
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+
+XRUSGAAbKAQAGygIAA==
+```
+%%

多体+耦合求解器/SD ED AD 流程及数据交互/输出代码模板.md

@@ -0,0 +1,89 @@
+
+结构体层面
+
+```
+use std::io::{BufWriter, Write};
+
+use std::sync::{Arc, Mutex};
+
+use std::fs::File;
+
+struct sometype{
+	pub writer: Arc<Mutex<BufWriter<File>>>, // 文件句柄包装
+}
+impl sometype{
+	pub fn new() -> Self {
+		let file = File::create("MultibodyOutput.txt").expect("Unable to create file");
+
+        let writer = Arc::new(Mutex::new(BufWriter::new(file)));
+		Self {
+		writer,
+		}
+	}
+}
+	pub fn write_header(&self) {
+
+        // 按照这样的方式写头文件Time (s), Wind speed (m/s), Power (W), Blade root Mx (N*m),
+
+        // Blade root My (N*m), Blade root Mz (N*m), Blade root Fx (N), Blade root Fy (N), Blade root Fz (N),
+
+        // let header = "Time (s), Blade 1 flapwise tip deflection (m), Blade 1 edgewise tip deflection (m), Blade 1 flapwise tip acceleration (m/s^2), Blade 1 edgewise tip acceleration (m/s^2)";
+
+        // "time", "TipDxc1", "TipDyc1", "TipDzc1", "TipDxb1", "TipDyb1", "TipALxb1", "TipALyb1", "TipALzb1", "TwrTpTDxi", "TwrTpTDyi", "TwrTpTDzi", "YawBrTVxp", "YawBrTVyp", "YawBrTVzp", "YawBrTAxp", "YawBrTAyp", "YawBrTAzp"写文件头
+
+  
+
+        let header_vec = vec![
+
+        "time", "TipDxc1", "TipDyc1", "TipDzc1", "TipDxb1", "TipDyb1",
+
+        "TipALxb1", "TipALyb1", "TipALzb1", "TwrTpTDxi", "TwrTpTDyi",
+
+        "TwrTpTDzi", "YawBrTVxp", "YawBrTVyp", "YawBrTVzp", "YawBrTAxp",
+
+        "YawBrTAyp", "YawBrTAzp"
+
+        ];
+
+        // 将字符串数组连接成一个单独的字符串，每个元素之间用逗号分隔
+
+        let header = header_vec.join(", ");
+
+        let mut writer = self.writer.lock().expect("Failed to acquire lock");
+
+        writeln!(writer, "{}", header).expect("Unable to write header");
+
+    }
+
+  
+
+    /// 写入 Vec<f64> 数据，每个值之间用空格分隔
+
+    pub fn write_data(&self, data: &Vec<f64>) {
+
+        let mut writer = self.writer.lock().expect("Failed to acquire lock");
+
+        // 将 Vec<f64> 数据转换为以空格分隔的字符串
+
+        let data_str = data.iter()
+
+            .map(|v| v.to_string())
+
+            .collect::<Vec<String>>()
+
+            .join(" ");
+
+        // 写入数据行
+
+        writeln!(writer, "{}", data_str).expect("Unable to write data");
+
+    }
+
+```
+
+调用层面
+```
+m = sometype.new()
+somevec = Vec<f64>
+m.write_data(&somevec);
+```

工作OKRs/25.6-8 OKR.canvas

@@ -1,12 +1,12 @@
 {
 	"nodes":[
 		{"id":"8359617e1edc48ba","type":"text","text":"状态指标：\n推进OKR的时候也要关注这些事情，它们是完成OKR的保障。\n\n\n效率状态  green","x":-76,"y":-306,"width":456,"height":347},
-		{"id":"a4eaccbbfadaaf17","type":"text","text":"# 目标：多体动力学模块完善\n### 每周盘点一下它们\n\n\n关键结果：建模原理、建模方法掌握    （9.2/10）\n\n关键结果：风机多体动力学文献调研情况完成 （5.5/10）\n关键结果：风机模型线性化原理、方法掌握  （8/10）","x":-76,"y":-693,"width":456,"height":347},
+		{"id":"a4eaccbbfadaaf17","type":"text","text":"# 目标：多体动力学模块完善\n### 每周盘点一下它们\n\n\n关键结果：建模原理、建模方法掌握    （9.5/10）\n\n关键结果：风机多体动力学文献调研情况完成 （5.5/10）\n关键结果：风机模型线性化原理、方法掌握  （9/10）","x":-76,"y":-693,"width":456,"height":347},
 		{"id":"d2c5e076ba6cf7d7","type":"text","text":"# 推进计划\n未来四周计划推进的重要事情\n\n文献调研启动\n\n建模重新推导\n\n\n","x":-600,"y":-306,"width":456,"height":347},
 		{"id":"82708a439812fdc7","type":"text","text":"# 7月已完成\n\nP1 工况点稳态变形量求解，F=kx\n- 文献调研，初步确定思路 done\n- 推导方程 done\n- 编写组建增广矩阵，求解广义坐标代码 done\n- 测试广义坐标到叶片变形量功能 可以变形，气动Cp会改变\n- 连接气动测试，完成。存在一个问题，气动是否要用稳态模型\n- 直接迭代到变形量收敛 思路确定了 完成\n- x.qt x.qdt数据如何从dxdt.qdt拿来/更新，预估校正方法 steady中预估矫正方法去掉了\n\nP1 职称评审系统填写，材料梳理上传 盖章\n\nP1 数值扰动+回归的线性化方法原理探究\n\nP1 dtu casestab开源项目，稳态运行状态叶片模态、频率计算方法研究。\n- 形成项目研究报告\n\nP1 控制信号到多体调研\n- 调研完成\n- 控制项目集成\n\nP1 产出的报告  线性化理论手册编写 完成","x":-220,"y":134,"width":440,"height":560},
 		{"id":"505acb3e6b119076","type":"text","text":"# 6月已完成\n\n\nP1 结果对比\n- Herowind 带3.5气动与fast3.5对比 相同\n- Herowind 带4.0气动与fast4.0对比 相同\n- Herowind 带hrl气动与fast对比 需气动支持15MW\n- 叶根坐标系转换 \n\t- 叶尖变形量 - 变形向量 dot product 叶根坐标系方向\n\t- 叶片载荷输入量呢 载荷传递在blade mesh.force moment，mesh.orientation = coord_sys.n\n\nP1 Bladed交流问题汇总\n\nP1 模型线性化原理 done\n- Bladed 线性化理论手册 仔细阅读\n- multibody blade transform\n- fast线性化理论\n- 梳理Bladed线性化方法框架\n\n\nP1 编写线性化理论手册 done\nP1 上手Bladed \\ fast 线性化功能，研究OpenFAST线性化实现原理 done","x":-700,"y":134,"width":440,"height":560},
-		{"id":"30cb7486dc4e224c","type":"text","text":"# 8月已完成\n\nP1 bladed多体参数梳理 完成\n\nP1 控制调通\n- 测试编译方案 搁置\n- 上传git 完成\n- 封装controller_init函数\n- 封装控制模块结构体、计算函数等\n- 完成多体模块与控制模块数据传递函数编写\n- 完成正常发电工况功能集成控制模块\n\n","x":260,"y":134,"width":440,"height":560},
-		{"id":"c18d25521d773705","type":"text","text":"# 计划\n这周要做的3~5件重要的事情，这些事情能有效推进实现OKR。\n\nP1 必须做。P2 应该做\n\n\nP2 柔性部件 叶片、塔架变形算法 主线\n- 变形体动力学 简略看看ing\n- 柔性梁弯曲变形振动学习，主线 \n\t- 广义质量 刚度矩阵及含义\n\t\n- 梳理bladed动力学框架\n\t- 子结构文献阅读\n\t- 叶片模型建模 done\n- 共旋方法学习\n- DTU 变形量计算方法学习\n\n\nP1 线性化方法编写 搁置\n\nP1 控制调通\n- 控制输入参数调整\n- 输出测试\n- 气动 多体 控制\n\nP1 湍流 气动 多体 控制联调\n\nP1 bladed对比--产出报告\n- 稳态变形量对比 -- steady power production loading、steady parked loading\n\n\nP2 如何优雅的存储、输出结果。\nP2 yaw 自由度再bug确认 已知原理了\n","x":-597,"y":-693,"width":453,"height":347}
+		{"id":"30cb7486dc4e224c","type":"text","text":"# 8月已完成\n\nP1 bladed多体参数梳理 完成\n\nP1 控制调通\n- 测试编译方案 搁置\n- 上传git 完成\n- 封装controller_init函数\n- 封装控制模块结构体、计算函数等\n- 完成多体模块与控制模块数据传递函数编写\n- 完成正常发电工况功能集成控制模块\n- 控制输入参数调整 done\n- 输出测试 done\n- 变桨执行器二阶微分传递函数通解推导及功能开发 done\n- 变流器一阶微分传递函数通解推导及功能开发 done\n- 气动 多体 控制 初步调通\n\nP1 报告编写\n- DTU Casestab开源项目研究报告\n","x":260,"y":134,"width":440,"height":560},
+		{"id":"c18d25521d773705","type":"text","text":"# 计划\n这周要做的3~5件重要的事情，这些事情能有效推进实现OKR。\n\nP1 必须做。P2 应该做\n\n\nP2 柔性部件 叶片、塔架变形算法 主线\n- 变形体动力学 简略看看ing\n- 柔性梁弯曲变形振动学习，主线 \n\t- 广义质量 刚度矩阵及含义\n\t\n- 梳理bladed动力学框架\n\t- 子结构文献阅读\n\t- 叶片模型建模 done\n- 共旋方法学习\n- DTU 变形量计算方法学习\n\n\nP1 线性化方法编写 搁置\n\nP1 湍流 气动 多体 控制联调\n\nP1 bladed对比--产出报告\n- 稳态变形量对比 -- steady power production loading、steady parked loading\n\n\nP2 如何优雅的存储、输出结果。\nP2 yaw 自由度再bug确认 已知原理了\n","x":-597,"y":-693,"width":453,"height":347}
 	],
 	"edges":[]
 }

工作OKRs/25.9-11 OKR.canvas

@@ -0,0 +1,13 @@
+{
+	"nodes":[
+		{"id":"8359617e1edc48ba","type":"text","text":"状态指标：\n推进OKR的时候也要关注这些事情，它们是完成OKR的保障。\n\n\n效率状态  green","x":-76,"y":-306,"width":456,"height":347},
+		{"id":"a4eaccbbfadaaf17","type":"text","text":"# 目标：\n多体模块完善 线性化模块开发\n### 每周盘点一下它们\n\n\n关键结果：多体动力学建模原理、建模方法、线性化原理掌握    （9/10）\n\n关键结果：风机多体动力学文献调研情况完成 （5.5/10）\n关键结果：目标工况测试、稳态工况对比 （5/10）","x":-76,"y":-803,"width":456,"height":457},
+		{"id":"d2c5e076ba6cf7d7","type":"text","text":"# 推进计划\n未来四周计划推进的重要事情\n\n文献调研启动\n\n建模重新推导\n\n\n","x":-600,"y":-306,"width":456,"height":347},
+		{"id":"82708a439812fdc7","type":"text","text":"# 10月已完成\n\n","x":-220,"y":134,"width":440,"height":560},
+		{"id":"505acb3e6b119076","type":"text","text":"# 9月已完成\n","x":-700,"y":134,"width":440,"height":560},
+		{"id":"30cb7486dc4e224c","type":"text","text":"# 11月已完成\n\n\n\n","x":260,"y":134,"width":440,"height":560},
+		{"id":"c18d25521d773705","type":"text","text":"# 计划\n这周要做的3~5件重要的事情，这些事情能有效推进实现OKR。\n\nP1 必须做。P2 应该做\n\n\nP2 柔性部件 叶片、塔架变形算法 主线\n- 变形体动力学 简略看看ing\n- 柔性梁弯曲变形振动学习，主线 \n\t- 广义质量 刚度矩阵及含义\n\t\n- 梳理bladed动力学框架\n\t- 子结构文献阅读\n\t- 叶片模型建模 done\n- 共旋方法学习\n- DTU 变形量计算方法学习\n\n\nP1 线性化方法编写 搁置\n\nP1 湍流 气动 多体 控制联调\n\nP1 bladed对比--产出报告\n- 稳态变形量对比 -- steady power production loading、steady parked loading\n\n\nP2 如何优雅的存储、输出结果。\nP2 yaw 自由度再bug确认 已知原理了\n","x":-597,"y":-803,"width":453,"height":457},
+		{"id":"86ab96a25a3bf82e","type":"text","text":" 湍流风+ 控制的联调，bladed也算一个算例\n- 加水动的联调\n- 8月份底完成这两个\n- 9月份完成停机等工况测试\n- 10月份明阳实际机型测试","x":580,"y":-803,"width":480,"height":220}
+	],
+	"edges":[]
+}