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

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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