Merge remote-tracking branch 'origin/master'

多体求解器debug/湍流风低于额定风速debug.md

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+
+## swap矩阵数据对比
+
+
+### Blade 1 pitch angle
+![[Pasted image 20251029150028.png]]
+
+### Measured shaft power
+
+![[Pasted image 20251029150141.png]]
+
+### Measured electrical power output
+![[Pasted image 20251029150201.png]]
+
+### Measured generator speed (rad/s)
+
+![[Pasted image 20251029151906.png]]
+
+###  Measured rotor speed (rad/s)
+
+![[Pasted image 20251029151938.png]]
+
+### Measured generator torque (Nm)
+
+![[Pasted image 20251029152029.png]]
+
+### Measured yaw error (rad) 
+
+herowind没值
+![[Pasted image 20251029152123.png]]
+
+### Hub wind speed (m/s)
+![[Pasted image 20251029152229.png]]
+有点小小偏差，why
+
+### Blade 1 root out-of-plane bending moment
+
+![[Pasted image 20251029152327.png]]
+
+### Blade 2 root out-of-plane bending moment
+![[Pasted image 20251029152350.png]]
+
+### Blade 3 root out-of-plane bending moment
+
+![[Pasted image 20251029152412.png]]
+
+
+root out of plane bending 、推力一开始就差值较大
+### tower_top_acc_y 
+![[Pasted image 20251029154600.png]]
+
+
+### rotor azimuth
+
+![[Pasted image 20251029144356.png]]
+
+### Blade 1 root in-plane bending moment
+
+![[Pasted image 20251029144631.png]]
+
+### Blade 2 root in-plane bending moment
+![[Pasted image 20251029144657.png]]
+
+### Blade 3 root in-plane bending moment
+
+![[Pasted image 20251029144720.png]]
+
+### Rotating hub My
+![[Pasted image 20251029144936.png]]
+###  Rotating hub Mz
+![[Pasted image 20251029145002.png]]
+
+### Fixed    hub My
+
+![[Pasted image 20251029145031.png]]
+
+
+### Fixed    hub Mz
+
+![[Pasted image 20251029145058.png]]
+
+### Yaw bearing  My 
+
+![[Pasted image 20251029145139.png]]
+
+### Yaw bearing  Mz
+
+![[Pasted image 20251029145213.png]]
+
+
+### Shaft torque
+
+![[Pasted image 20251029145739.png]]
+
+### Thrust - Rotating low-speed shaft force x
+
+![[Pasted image 20251029145843.png]]
+
+### Nonrotating low-speed shaft force y
+
+![[Pasted image 20251029145915.png]]
+
+
+### Nonrotating low-speed shaft force z
+
+![[Pasted image 20251029145932.png]]
+
+
+# q
+
+
+2 推力 out-of-plane bending moment偏大
+
+推力 
+```
+let ls_shft_fxa = dot_product(&frc_p_rot, &m.coord_sys.e1);
+y.lss_shft_fxa = ls_shft_fxa * 1000.0;
+
+```
+
+out-of-plane bending moment
+```
+
+    for k in 0..p.num_bl as usize {
+
+        let root_mxc = dot_product(&mom_h0_b.slice(s![.., k]).to_owned(), &m.coord_sys.i1.slice(s![k, ..]).to_owned());
+
+        y.root_mxc[k] = root_mxc * 1000.0;
+```
+
+Shaft torque
+