11 KiB
惯性坐标系 （xi yi zi）
- Origin The point about which the translational motions of the support platform (surge, sway, and heave) are defined.
- xi axis Pointing in the nominal (0°) downwind direction.
- yi axis Pointing to the left when looking in the nominal downwind direction.
- zi axis Pointing vertically upward opposite to gravity.
- 平台不运动时与xt yt zt相同
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代码中
z1 = xi z2 = zi z3 = -yi
coord_sys.z1 = Array1::from_vec(vec![1.0, 0.0, 0.0]); //Vector / direction z1 (= xi from the IEC coord. system).
coord_sys.z2 = Array1::from_vec(vec![0.0, 1.0, 0.0]); //Vector / direction z2 (= zi from the IEC coord. system).
coord_sys.z3 = Array1::from_vec(vec![0.0, 0.0, 1.0]); //Vector / direction z3 (= -yi from the IEC coord. system).
tower base/platform 坐标系
Origin Intersection of the center of the tower and the tower base connection to the support platform. xt axis When the support platform has no pitch or yaw displacement, it is aligned with the xi axis (pointing horizontally in the nominal downwind direction). yt axis When the support platform has no roll or yaw displacement, it is aligned with the yi axis (pointing to the left when looking in the nominal downwind direction). zt axis Pointing up from the center of the tower.
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代码中
a1 = xt a2 = zt a3 = -yt
coord_sys.a1 = trans_mat[[0, 0]] * &coord_sys.z1 + trans_mat[[0, 1]] * &coord_sys.z2 + trans_mat[[0, 2]] * &coord_sys.z3; // Vector / direction a1 (= xt from the IEC coord. system).
coord_sys.a2 = trans_mat[[1, 0]] * &coord_sys.z1 + trans_mat[[1, 1]] * &coord_sys.z2 + trans_mat[[1, 2]] * &coord_sys.z3; // Vector / direction a2 (= zt from the IEC coord. system).
coord_sys.a3 = trans_mat[[2, 0]] * &coord_sys.z1 + trans_mat[[2, 1]] * &coord_sys.z2 + trans_mat[[2, 2]] * &coord_sys.z3; // Vector / direction a3 (= -yt from the IEC coord. system).
塔架节点坐标系
t1 t2 t3基于a1 a2 a3 加上塔架节点变形角度 计算得到
Tower-top/base-plate
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加上塔顶变形
Origin A point on the yaw axis at a height of TowerHt above ground level [onshore or mean sea level [offshore] (see Figure 14(a), Figure 16, or Figure 20). xp axis When the tower is not deflected, it is aligned with the xt axis. yp axis When the tower is not deflected, it is aligned with the yt axis. zp axis When the tower is not deflected, it is aligned with the zt axis. It is also the yaw axis.
代码中
b1 = xp b2 = zp b3 = -yp
Nacelle/Yaw Coordinate System
在p坐标系基础上加变桨角度
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This coordinate system translates and rotates with the top of the tower, plus it yaws with the nacelle. Origin The origin is the same as that for the tower-top/base-plate coordinate system. xn axis Pointing horizontally toward the nominally downwind end of the nacelle. yn axis Pointing to the left when looking toward the nominally downwind end of the nacelle. zn axis Coaxial with the tower/yaw axis and pointing up.
代码中
d1 = xn d2 = zn d3 = -yn
// Nacelle / yaw coordinate system:
c_nac_yaw = (x.qt[DOF_YAW as usize - 1]).cos();
s_nac_yaw = (x.qt[DOF_YAW as usize - 1]).sin();
coord_sys.d1 = c_nac_yaw * &coord_sys.b1 - s_nac_yaw* &coord_sys.b3; // Vector / direction d1 (= xn from the IEC coord. system).
coord_sys.d2 = coord_sys.b2.clone(); // Vector / direction d2 (= xn from the IEC coord. system).
coord_sys.d3 = s_nac_yaw * &coord_sys.b1 + c_nac_yaw* &coord_sys.b3; // Vector / direction d3 (= xn from the IEC coord. system).
rotor-furl 坐标系 后续删掉
主轴坐标系 Shaft Coordinate System
The shaft coordinate system does not rotate with the rotor, but it does translate and rotate with the tower and it yaws with the nacelle and furls with the rotor. The nacelle inertial measurement unit uses this coordinate system for all of its motion outputs. Shaft bending moments at the hub and at the position denoted by ShftGagL use this coordinate system or the rotating hub coordinate system shown below.
机舱惯性、主轴弯曲 tilt
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Origin Intersection of the yn-/zn-plane and the rotor axis. xs axis Pointing along the (possibly tilted) shaft in the nominally downwind direction. ys axis Pointing to the left when looking from the tower toward the nominally downwind end of the nacelle. zs axis Orthogonal with the xs and ys axes such that they form a right-handed coordinate system.
c1=xs c2=zs c3=-ys
方位角坐标系统 azimuth coordinate system
e1 e2 e3
The azimuth, or a, coordinate system is located at the origin of the shaft coordinate system, but it rotates with the rotor. When Blade 1 points up, the azimuth and shaft coordinate systems are parallel. For three bladed rotors, blade 3 is ahead of blade 2, which is ahead of blade 1, so that the order of blades passing through a given azimuth is 3-2-1-repeat. 方位角坐标系（或称为“a”坐标系）位于**主轴坐标系的原点，但随着转子旋转而旋转****。当叶片1指向上方时，方位角和轴坐标系是平行的。对于三叶转子，叶片3在叶片2之前，叶片2在叶片1之前，因此通过给定方位角的叶片顺序为3-2-1-重复。
e1 e2 e3在c1 c2 c3的基础上，加上 DOF_DRTR DOF_GEAZ的角度
// 方位角坐标系统 azimuth coordinate system
c_azimuth = (x.qt[DOF_DRTR as usize - 1] + x.qt[DOF_GEAZ as usize -1]).cos();
s_azimuth = (x.qt[DOF_DRTR as usize - 1] + x.qt[DOF_GEAZ as usize -1]).sin();
coord_sys.e1 = coord_sys.c1.clone(); // Vector / direction e1 (equivalent to xa from the IEC coordinate system)
coord_sys.e2 = c_azimuth * &coord_sys.c2 + s_azimuth * &coord_sys.c3; // Vector / direction e2 (equivalent to ya from the IEC coordinate system)
coord_sys.e3 = -s_azimuth * &coord_sys.c2 + c_azimuth * &coord_sys.c3; // Vector / direction e3 (equivalent to za from the IEC coordinate system)
teeter 坐标系 用于两叶片 后续可以删掉
f1=e1 f2 = e2 f3 = e3
hub / delta-3 coordinate system:
The hub coordinate system rotates with the rotor. It also teeters in two-bladed models. Origin Intersection of the rotor axis and the plane of rotation (non-coned rotors) or the apex of the cone of rotation (coned rotors). 原点在轮毂 xh axis Pointing along the hub centerline in the nominal downwind direction. yh axis Orthogonal with the xh and zh axes such that they form a right-handed coordinate system. zh axis Perpendicular to the hub centerline with the same azimuth as Blade 1.
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g1 = xh g2 = yh g3 = zh 这里变了，不再是2对应z方向
默认 cos_del3 = 1.0， sin_del3=0.0 g1 = f1 g2 = f2 g3 = f3
// Hub / delta-3 coordinate system:
coord_sys.g1 = coord_sys.f1.clone(); // Vector / direction g1 (= xh from the IEC coord. system)
coord_sys.g2 = p.cos_del3 * &coord_sys.f2 + p.sin_del3 * &coord_sys.f3; // Vector / direction g2 (= yh from the IEC coord. system)
coord_sys.g3 = -p.sin_del3 * &coord_sys.f2 + p.cos_del3 * &coord_sys.f3; // Vector / direction g3 (= zh from the IEC coord. system)
锥角坐标系 Coned Coordinate Systems
i1 i2 i3
There is a coned coordinate system for each blade that rotates with the rotor. The coordinate system does not pitch with the blades and it also teeters in two bladed models. For three-bladed rotors, blade 3 is ahead of blade 2, which is ahead of blade 1, so that the order of blades passing through a given azimuth is 3-2- 1-repeat. Origin The origin is the same as that for the hub coordinate system. Xc,i axis Orthogonal with the yc,i and zc,i axes such that they form a right-handed coordinate system. (i = 1, 2, or 3 for blades 1, 2, or 3, respectively) Yc,i axis Pointing towards the trailing edge of blade i if the pitch and twist were zero and parallel with the chord line. (i = 1, 2, or 3 for blades 1, 2, or 3, respectively) Zc,i axis Pointing along the pitch axis towards the tip of blade i. (i = 1, 2, or 3 for blades 1, 2, or 3, respectively)
加入锥角，原点与hub坐标系相同 三个叶片，有三组
i1[k, ..] = xck
i2[k, ..] = yck
i3[k, ..] = zck
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先把轮毂坐标系根据方位角，变换到每个叶片，再处理锥角
for k in 0..p.num_bl as usize{
g_rot_ang = p.two_pi_nb * (k as f64);
c_g_rot_ang = g_rot_ang.cos();
s_g_rot_ang = g_rot_ang.sin();
g1_prime = coord_sys.g1.clone();
g2_prime = c_g_rot_ang * &coord_sys.g2 + s_g_rot_ang * &coord_sys.g3;
g3_prime = -s_g_rot_ang * &coord_sys.g2 + c_g_rot_ang * &coord_sys.g3;
// coned coordinate system
coord_sys.i1.slice_mut(s![k, ..]).assign(&(p.cos_pre_c[k] * &g1_prime - p.sin_pre_c[k] * &g3_prime)); // i1(K,:) = vector / direction i1 for blade K (= xcK from the IEC coord. system).
coord_sys.i2.slice_mut(s![k, ..]).assign(&(g2_prime.clone())); // i2(K,:) = vector / direction i2 for blade K (= ycK from the IEC coord. system).
coord_sys.i3.slice_mut(s![k, ..]).assign(&(p.sin_pre_c[k] * &g1_prime + p.cos_pre_c[k] * &g3_prime)); // i3(K,:) = vector / direction i3 for blade K (= zcK from the IEC coord. system).
}
叶片坐标系 Blade Coordinate Systems
j1 j2 j3
These coordinate systems are the same as the coned coordinate systems, except that they pitch with the blades and their origins are at the blade root. For three-bladed rotors, blade 3 is ahead of blade 2, which is ahead of blade 1, so that the order of blades passing through a given azimuth is 3-2-1-repeat.
Origin Intersection of the blade’s pitch axis and the blade root. xb,i axis Orthogonal with the yb and zb axes such that they form a right-handed coordinate system. (i = 1, 2, or 3 for blades 1, 2, or 3, respectively) yb,i axis Pointing towards the trailing edge of blade i and parallel with the chord line at the zero-twist blade station. (i = 1, 2, or 3 for blades 1, 2, or 3, respectively) zb,i axis Pointing along the pitch axis towards the tip of blade i. (i = 1, 2, or 3 for blades 1, 2, or 3, respectively) 原点位于叶根，在锥角坐标系基础上加入变桨角
j1[k, ..] = xbk
j2[k, ..] = ybk
j3[k, ..] = zbk
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叶素节点坐标系
n1 n2 n3 m1 m2 m3 不包含叶根 叶尖节点
问题：
- p.c_theta_s
- p.s_theta_s
- p.twisted_sf是什么
- n1 n2 n3的计算公式
- m1 m2 m3的意义