Purpose: Encapsulates the landing gear elements
Called by: FGAircraft
- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGLGear.h"
+#include "FGGroundReactions.h"
+#include "FGFCS.h"
+#include "FGAuxiliary.h"
+#include "FGAtmosphere.h"
+#include "FGMassBalance.h"
+#include "math/FGTable.h"
+#include <cstdlib>
+#include <cstring>
+
+using namespace std;
namespace JSBSim {
GLOBAL DATA
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGLGear.cpp,v 1.80 2011/01/24 13:01:56 jberndt Exp $";
static const char *IdHdr = ID_LGEAR;
+// Body To Structural (body frame is rotated 180 deg about Y and lengths are given in
+// ft instead of inches)
+const FGMatrix33 FGLGear::Tb2s(-1./inchtoft, 0., 0., 0., 1./inchtoft, 0., 0., 0., -1./inchtoft);
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
+ FGForce(fdmex),
GearNumber(number),
- Exec(fdmex)
+ SteerAngle(0.0),
+ Castered(false),
+ StaticFriction(false)
{
Element *force_table=0;
Element *dampCoeff=0;
} else if (sContactType == "STRUCTURE") {
eContactType = ctSTRUCTURE;
} else {
- eContactType = ctUNKNOWN;
+ // Unknown contact point types will be treated as STRUCTURE.
+ eContactType = ctSTRUCTURE;
}
if (el->FindElement("spring_coeff"))
while (force_table) {
force_type = force_table->GetAttributeValue("type");
if (force_type == "CORNERING_COEFF") {
- ForceY_Table = new FGTable(Exec->GetPropertyManager(), force_table);
+ ForceY_Table = new FGTable(fdmex->GetPropertyManager(), force_table);
} else {
cerr << "Undefined force table for " << name << " contact point" << endl;
}
else sSteerType = "STEERABLE";
Element* element = el->FindElement("location");
- if (element) vXYZ = element->FindElementTripletConvertTo("IN");
+ if (element) vXYZn = element->FindElementTripletConvertTo("IN");
else {cerr << "No location given for contact " << name << endl; exit(-1);}
+ SetTransformType(FGForce::tCustom);
+
+ element = el->FindElement("orientation");
+ if (element && (eContactType == ctBOGEY)) {
+ vGearOrient = element->FindElementTripletConvertTo("RAD");
+
+ double cp,sp,cr,sr,cy,sy;
+
+ cp=cos(vGearOrient(ePitch)); sp=sin(vGearOrient(ePitch));
+ cr=cos(vGearOrient(eRoll)); sr=sin(vGearOrient(eRoll));
+ cy=cos(vGearOrient(eYaw)); sy=sin(vGearOrient(eYaw));
+
+ mTGear(1,1) = cp*cy;
+ mTGear(2,1) = cp*sy;
+ mTGear(3,1) = -sp;
+
+ mTGear(1,2) = sr*sp*cy - cr*sy;
+ mTGear(2,2) = sr*sp*sy + cr*cy;
+ mTGear(3,2) = sr*cp;
+
+ mTGear(1,3) = cr*sp*cy + sr*sy;
+ mTGear(2,3) = cr*sp*sy - sr*cy;
+ mTGear(3,3) = cr*cp;
+ }
+ else {
+ mTGear(1,1) = 1.;
+ mTGear(2,2) = 1.;
+ mTGear(3,3) = 1.;
+ }
if (sBrakeGroup == "LEFT" ) eBrakeGrp = bgLeft;
else if (sBrakeGroup == "RIGHT" ) eBrakeGrp = bgRight;
if (sSteerType == "STEERABLE") eSteerType = stSteer;
else if (sSteerType == "FIXED" ) eSteerType = stFixed;
- else if (sSteerType == "CASTERED" ) eSteerType = stCaster;
+ else if (sSteerType == "CASTERED" ) {eSteerType = stCaster; Castered = true;}
else if (sSteerType.empty() ) {eSteerType = stFixed;
sSteerType = "FIXED (defaulted)";}
else {
<< sSteerType << " is undefined." << endl;
}
- RFRV = 0.7; // Rolling force relaxation velocity, default value
- SFRV = 0.7; // Side force relaxation velocity, default value
-
- Element* relax_vel = el->FindElement("relaxation_velocity");
- if (relax_vel) {
- if (relax_vel->FindElement("rolling")) {
- RFRV = relax_vel->FindElementValueAsNumberConvertTo("rolling", "FT/SEC");
- }
- if (relax_vel->FindElement("side")) {
- SFRV = relax_vel->FindElementValueAsNumberConvertTo("side", "FT/SEC");
- }
- }
-
- State = Exec->GetState();
- LongForceLagFilterCoeff = 1/State->Getdt(); // default longitudinal force filter coefficient
- LatForceLagFilterCoeff = 1/State->Getdt(); // default lateral force filter coefficient
-
- Element* force_lag_filter_elem = el->FindElement("force_lag_filter");
- if (force_lag_filter_elem) {
- if (force_lag_filter_elem->FindElement("rolling")) {
- LongForceLagFilterCoeff = force_lag_filter_elem->FindElementValueAsNumber("rolling");
- }
- if (force_lag_filter_elem->FindElement("side")) {
- LatForceLagFilterCoeff = force_lag_filter_elem->FindElementValueAsNumber("side");
- }
- }
-
- LongForceFilter = Filter(LongForceLagFilterCoeff, State->Getdt());
- LatForceFilter = Filter(LatForceLagFilterCoeff, State->Getdt());
-
- WheelSlipLagFilterCoeff = 1/State->Getdt();
-
- Element *wheel_slip_angle_lag_elem = el->FindElement("wheel_slip_filter");
- if (wheel_slip_angle_lag_elem) {
- WheelSlipLagFilterCoeff = wheel_slip_angle_lag_elem->GetDataAsNumber();
- }
-
- WheelSlipFilter = Filter(WheelSlipLagFilterCoeff, State->Getdt());
+ Auxiliary = fdmex->GetAuxiliary();
+ Propagate = fdmex->GetPropagate();
+ FCS = fdmex->GetFCS();
+ MassBalance = fdmex->GetMassBalance();
+ GroundReactions = fdmex->GetGroundReactions();
GearUp = false;
GearDown = true;
// Add some AI here to determine if gear is located properly according to its
// brake group type ??
- State = Exec->GetState();
- Aircraft = Exec->GetAircraft();
- Propagate = Exec->GetPropagate();
- Auxiliary = Exec->GetAuxiliary();
- FCS = Exec->GetFCS();
- MassBalance = Exec->GetMassBalance();
-
WOW = lastWOW = false;
ReportEnable = true;
FirstContact = false;
MaximumStrutForce = MaximumStrutTravel = 0.0;
SinkRate = GroundSpeed = 0.0;
- vWhlBodyVec = MassBalance->StructuralToBody(vXYZ);
-
+ vWhlBodyVec = MassBalance->StructuralToBody(vXYZn);
vLocalGear = Propagate->GetTb2l() * vWhlBodyVec;
-
- vLocalWhlVel.InitMatrix();
+ vWhlVelVec.InitMatrix();
compressLength = 0.0;
compressSpeed = 0.0;
Peak = staticFCoeff;
Curvature = 1.03;
+ // Initialize Lagrange multipliers
+ memset(LMultiplier, 0, sizeof(LMultiplier));
+
Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGColumnVector3& FGLGear::Force(void)
+FGColumnVector3& FGLGear::GetBodyForces(void)
{
- double t = Exec->GetState()->Getsim_time();
- dT = State->Getdt()*Exec->GetGroundReactions()->GetRate();
+ double t = fdmex->GetSimTime();
+ dT = fdmex->GetDeltaT()*GroundReactions->GetRate();
- vForce.InitMatrix();
- vLocalForce.InitMatrix();
- vMoment.InitMatrix();
+ vFn.InitMatrix();
if (isRetractable) ComputeRetractionState();
if (GearDown) {
+ FGColumnVector3 angularVel;
- vWhlBodyVec = MassBalance->StructuralToBody(vXYZ); // Get wheel in body frame
+ vWhlBodyVec = MassBalance->StructuralToBody(vXYZn); // Get wheel in body frame
vLocalGear = Propagate->GetTb2l() * vWhlBodyVec; // Get local frame wheel location
gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear);
- // Compute the height of the theoritical location of the wheel (if struct was not compressed) with
- // respect to the ground level
- double height = Exec->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
- vGroundNormal = -1. * Propagate->GetTec2b() * normal;
+ // Compute the height of the theoretical location of the wheel (if strut is
+ // not compressed) with respect to the ground level
+ double height = fdmex->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel, angularVel);
+ vGroundNormal = Propagate->GetTec2b() * normal;
+
+ // The height returned above is the AGL and is expressed in the Z direction
+ // of the ECEF coordinate frame. We now need to transform this height in
+ // actual compression of the strut (BOGEY) of in the normal direction to the
+ // ground (STRUCTURE)
+ double normalZ = (Propagate->GetTec2l()*normal)(eZ);
+ double LGearProj = -(mTGear.Transposed() * vGroundNormal)(eZ);
switch (eContactType) {
case ctBOGEY:
- // Project the height in the local coordinate frame of the strut to compute the actual compression
- // length. The strut is assumed to be parallel to Z in the body frame.
- compressLength = vGroundNormal(eZ) < 0.0 ? height / vGroundNormal(eZ) : 0.0;
+ compressLength = LGearProj > 0.0 ? height * normalZ / LGearProj : 0.0;
break;
case ctSTRUCTURE:
- compressLength = -height;
+ compressLength = height * normalZ / DotProduct(normal, normal);
break;
}
WOW = true;
- // [The next equation should really use the vector to the contact patch of
- // the tire including the strut compression and not the original vWhlBodyVec.]
+ // The following equations use the vector to the tire contact patch
+ // including the strut compression.
+ FGColumnVector3 vWhlDisplVec;
+
+ switch(eContactType) {
+ case ctBOGEY:
+ vWhlDisplVec = mTGear * FGColumnVector3(0., 0., -compressLength);
+ break;
+ case ctSTRUCTURE:
+ vWhlDisplVec = compressLength * vGroundNormal;
+ break;
+ }
+
+ FGColumnVector3 vWhlContactVec = vWhlBodyVec + vWhlDisplVec;
+ vActingXYZn = vXYZn + Tb2s * vWhlDisplVec;
+ FGColumnVector3 vBodyWhlVel = Propagate->GetPQR() * vWhlContactVec;
+ vBodyWhlVel += Propagate->GetUVW() - Propagate->GetTec2b() * cvel;
- FGColumnVector3 vWhlContactVec = vWhlBodyVec - FGColumnVector3(0., 0., compressLength);
- vWhlVelVec = Propagate->GetPQR() * vWhlContactVec;
- vWhlVelVec += Propagate->GetUVW() - Propagate->GetTec2b() * cvel;
+ vWhlVelVec = mTGear.Transposed() * vBodyWhlVel;
InitializeReporting();
ComputeSteeringAngle();
ComputeGroundCoordSys();
- vLocalWhlVel = Tb2g * vWhlVelVec;
+ vLocalWhlVel = Transform().Transposed() * vBodyWhlVel;
- compressSpeed = -vLocalWhlVel(eZ);
+ compressSpeed = -vLocalWhlVel(eX);
if (eContactType == ctBOGEY)
- // Project the compression speed in the local coordinate frame of the strut
- compressSpeed /= -vGroundNormal(eZ);
+ compressSpeed /= LGearProj;
ComputeVerticalStrutForce();
- // Compute the forces in the wheel ground plane.
+ // Compute the friction coefficients in the wheel ground plane.
if (eContactType == ctBOGEY) {
ComputeSlipAngle();
ComputeBrakeForceCoefficient();
ComputeSideForceCoefficient();
- double sign = vLocalWhlVel(eX)>0?1.0:(vLocalWhlVel(eX)<0?-1.0:0.0);
- vLocalForce(eX) = - ((1.0 - TirePressureNorm) * 30 + vLocalForce(eZ) * BrakeFCoeff) * sign;
- vLocalForce(eY) = vLocalForce(eZ) * FCoeff;
- }
- else if (eContactType == ctSTRUCTURE) {
- FGColumnVector3 vSlipVec = vLocalWhlVel;
- vSlipVec(eZ) = 0.;
- vSlipVec.Normalize();
- vLocalForce -= staticFCoeff * vLocalForce(eZ) * vSlipVec;
}
- // Lag and attenuate the XY-plane forces dependent on velocity. This code
- // uses a lag filter, C/(s + C) where "C" is the filter coefficient. When
- // "C" is chosen at the frame rate (in Hz), the jittering is significantly
- // reduced. This is because the jitter is present *at* the execution rate.
- // If a coefficient is set to something equal to or less than zero, the
- // filter is bypassed.
-
- if (LongForceLagFilterCoeff > 0) vLocalForce(eX) = LongForceFilter.execute(vLocalForce(eX));
- if (LatForceLagFilterCoeff > 0) vLocalForce(eY) = LatForceFilter.execute(vLocalForce(eY));
-
- if ((fabs(vLocalWhlVel(eX)) <= RFRV) && RFRV > 0) vLocalForce(eX) *= fabs(vLocalWhlVel(eX))/RFRV;
- if ((fabs(vLocalWhlVel(eY)) <= SFRV) && SFRV > 0) vLocalForce(eY) *= fabs(vLocalWhlVel(eY))/SFRV;
-
- // End section for attenuating gear jitter
-
- // Transform the forces back to the body frame and compute the moment.
-
- vForce = Tg2b * vLocalForce;
- vMoment = vWhlContactVec * vForce;
+ // Prepare the Jacobians and the Lagrange multipliers for later friction
+ // forces calculations.
+ ComputeJacobian(vWhlContactVec);
} else { // Gear is NOT compressed
WOW = false;
compressLength = 0.0;
compressSpeed = 0.0;
+ WheelSlip = 0.0;
+ StrutForce = 0.0;
// Let wheel spin down slowly
- vLocalWhlVel(eX) -= 13.0*dT;
- if (vLocalWhlVel(eX) < 0.0) vLocalWhlVel(eX) = 0.0;
+ vWhlVelVec(eX) -= 13.0*dT;
+ if (vWhlVelVec(eX) < 0.0) vWhlVelVec(eX) = 0.0;
// Return to neutral position between 1.0 and 0.8 gear pos.
SteerAngle *= max(GetGearUnitPos()-0.8, 0.0)/0.2;
}
}
- ReportTakeoffOrLanding();
+ if (!fdmex->GetTrimStatus()) {
+ ReportTakeoffOrLanding();
- // Require both WOW and LastWOW to be true before checking crash conditions
- // to allow the WOW flag to be used in terminating a scripted run.
- if (WOW && lastWOW) CrashDetect();
+ // Require both WOW and LastWOW to be true before checking crash conditions
+ // to allow the WOW flag to be used in terminating a scripted run.
+ if (WOW && lastWOW) CrashDetect();
- lastWOW = WOW;
+ lastWOW = WOW;
+ }
- return vForce;
+ return FGForce::GetBodyForces();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Build a local "ground" coordinate system defined by
-// eX : projection of the rolling direction on the ground
-// eY : projection of the sliping direction on the ground
-// eZ : normal to the ground
+// eX : normal to the ground
+// eY : projection of the rolling direction on the ground
+// eZ : projection of the sliping direction on the ground
void FGLGear::ComputeGroundCoordSys(void)
{
- if( fabs(vGroundNormal(eZ)) < 1e-3 ) {
- cout << "BOMB: ";
- cout << vGroundNormal(eX) << "/" << vGroundNormal(eY) << "/" <<
- vGroundNormal(eZ) << " - " << SteerAngle << endl;
- return;
- }
-
- // Compute the rolling direction projected on the ground
- // It consists in finding a vector 'r' such that 'r' lies in the plane (w,z) and r.n = 0 (scalar
- // product) where:
- // 'n' is the normal to the ground,
- // (x,y,z) are the directions defined in the body coord system
- // and 'w' is 'x' rotated by the steering angle (SteerAngle) in the plane (x,y).
- // r = u * w + v * z and r.n = 0 => v/u = -w.n/z.n = a
- // We also want u**2+v**2=1 and u > 0 (i.e. r orientated in the same 'direction' than w)
- // after some arithmetic, one finds that :
- double a = -(vGroundNormal(eX)*cos(SteerAngle)+vGroundNormal(eY)*sin(SteerAngle)) / vGroundNormal(eZ);
- double u = 1. / sqrt(1. + a*a);
- double v = a * u;
- FGColumnVector3 vRollingGroundVec = FGColumnVector3(u * cos(SteerAngle), u * sin(SteerAngle), v);
-
- // The sliping direction is the cross product multiplication of the ground normal and rolling
- // directions
- FGColumnVector3 vSlipGroundVec = vGroundNormal * vRollingGroundVec;
-
- Tg2b(1,1) = vRollingGroundVec(eX);
- Tg2b(2,1) = vRollingGroundVec(eY);
- Tg2b(3,1) = vRollingGroundVec(eZ);
- Tg2b(1,2) = vSlipGroundVec(eX);
- Tg2b(2,2) = vSlipGroundVec(eY);
- Tg2b(3,2) = vSlipGroundVec(eZ);
- Tg2b(1,3) = vGroundNormal(eX);
- Tg2b(2,3) = vGroundNormal(eY);
- Tg2b(3,3) = vGroundNormal(eZ);
-
- Tb2g = Tg2b.Transposed();
+ // Euler angles are built up to create a local frame to describe the forces
+ // applied to the gear by the ground. Here pitch, yaw and roll do not have
+ // any physical meaning. It is just a convenient notation.
+ // First, "pitch" and "yaw" are determined in order to align eX with the
+ // ground normal.
+ if (vGroundNormal(eZ) < -1.0)
+ vOrient(ePitch) = 0.5*M_PI;
+ else if (1.0 < vGroundNormal(eZ))
+ vOrient(ePitch) = -0.5*M_PI;
+ else
+ vOrient(ePitch) = asin(-vGroundNormal(eZ));
+
+ if (fabs(vOrient(ePitch)) == 0.5*M_PI)
+ vOrient(eYaw) = 0.;
+ else
+ vOrient(eYaw) = atan2(vGroundNormal(eY), vGroundNormal(eX));
+
+ vOrient(eRoll) = 0.;
+ UpdateCustomTransformMatrix();
+
+ if (eContactType == ctBOGEY) {
+ // In the case of a bogey, the third angle "roll" is used to align the axis eY and eZ
+ // to the rolling and sliping direction respectively.
+ FGColumnVector3 updatedRollingAxis = Transform().Transposed() * mTGear
+ * FGColumnVector3(-sin(SteerAngle), cos(SteerAngle), 0.);
+
+ vOrient(eRoll) = atan2(updatedRollingAxis(eY), -updatedRollingAxis(eZ));
+ UpdateCustomTransformMatrix();
+ }
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
GearUp = true;
WOW = false;
GearDown = false;
- vLocalWhlVel.InitMatrix();
+ vWhlVelVec.InitMatrix();
} else if (gearPos > 0.99) {
GearDown = true;
GearUp = false;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Calculate tire slip angle.
void FGLGear::ComputeSlipAngle(void)
{
- // Calculate tire slip angle.
- WheelSlip = -atan2(vLocalWhlVel(eY), fabs(vLocalWhlVel(eX)))*radtodeg;
-
- // Filter the wheel slip angle
- if (WheelSlipLagFilterCoeff > 0) WheelSlip = WheelSlipFilter.execute(WheelSlip);
+// Check that the speed is non-null otherwise use the current angle
+ if (vLocalWhlVel.Magnitude(eY,eZ) > 1E-3)
+ WheelSlip = -atan2(vLocalWhlVel(eZ), fabs(vLocalWhlVel(eY)))*radtodeg;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SteerAngle = 0.0;
break;
case stCaster:
- SteerAngle = atan2(fabs(vWhlVelVec(eX)), vWhlVelVec(eY));
+ if (!Castered)
+ SteerAngle = degtorad * FCS->GetSteerPosDeg(GearNumber);
+ else {
+ // Check that the speed is non-null otherwise use the current angle
+ if (vWhlVelVec.Magnitude(eX,eY) > 0.1)
+ SteerAngle = atan2(vWhlVelVec(eY), fabs(vWhlVelVec(eX)));
+ }
break;
default:
cerr << "Improper steering type membership detected for this gear." << endl;
void FGLGear::ReportTakeoffOrLanding(void)
{
- double deltaT = State->Getdt()*Exec->GetGroundReactions()->GetRate();
-
if (FirstContact)
- LandingDistanceTraveled += Auxiliary->GetVground()*deltaT;
+ LandingDistanceTraveled += Auxiliary->GetVground()*dT;
if (StartedGroundRun) {
- TakeoffDistanceTraveled50ft += Auxiliary->GetVground()*deltaT;
- if (WOW) TakeoffDistanceTraveled += Auxiliary->GetVground()*deltaT;
+ TakeoffDistanceTraveled50ft += Auxiliary->GetVground()*dT;
+ if (WOW) TakeoffDistanceTraveled += Auxiliary->GetVground()*dT;
}
if ( ReportEnable
&& Auxiliary->GetVground() <= 0.05
&& !LandingReported
- && Exec->GetGroundReactions()->GetWOW())
+ && GroundReactions->GetWOW())
{
if (debug_lvl > 0) Report(erLand);
}
if ( ReportEnable
&& !TakeoffReported
&& (Propagate->GetDistanceAGL() - vLocalGear(eZ)) > 50.0
- && !Exec->GetGroundReactions()->GetWOW())
+ && !GroundReactions->GetWOW())
{
if (debug_lvl > 0) Report(erTakeoff);
}
void FGLGear::CrashDetect(void)
{
if ( (compressLength > 500.0 ||
- vForce.Magnitude() > 100000000.0 ||
- vMoment.Magnitude() > 5000000000.0 ||
- SinkRate > 1.4666*30 ) && !State->IntegrationSuspended())
+ vFn.Magnitude() > 100000000.0 ||
+ GetMoments().Magnitude() > 5000000000.0 ||
+ SinkRate > 1.4666*30 ) && !fdmex->IntegrationSuspended())
{
PutMessage("Crash Detected: Simulation FREEZE.");
- State->SuspendIntegration();
+ fdmex->SuspendIntegration();
}
}
switch (eContactType) {
case ctBOGEY:
// Project back the strut force in the local coordinate frame of the ground
- vLocalForce(eZ) = StrutForce / vGroundNormal(eZ);
+ vFn(eX) = StrutForce / (mTGear.Transposed()*vGroundNormal)(eZ);
break;
case ctSTRUCTURE:
- vLocalForce(eZ) = -StrutForce;
+ vFn(eX) = -StrutForce;
break;
}
return GearPos;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Compute the jacobian entries for the friction forces resolution later
+// in FGPropagate
+
+void FGLGear::ComputeJacobian(const FGColumnVector3& vWhlContactVec)
+{
+ // When the point of contact is moving, dynamic friction is used
+ // This type of friction is limited to ctSTRUCTURE elements because their
+ // friction coefficient is the same in every directions
+ if ((eContactType == ctSTRUCTURE) && (vLocalWhlVel.Magnitude(eY,eZ) > 1E-3)) {
+ FGColumnVector3 velocityDirection = vLocalWhlVel;
+
+ StaticFriction = false;
+
+ velocityDirection(eX) = 0.;
+ velocityDirection.Normalize();
+
+ LMultiplier[ftDynamic].ForceJacobian = Transform()*velocityDirection;
+ LMultiplier[ftDynamic].MomentJacobian = vWhlContactVec * LMultiplier[ftDynamic].ForceJacobian;
+ LMultiplier[ftDynamic].Max = 0.;
+ LMultiplier[ftDynamic].Min = -fabs(dynamicFCoeff * vFn(eX));
+ LMultiplier[ftDynamic].value = Constrain(LMultiplier[ftDynamic].Min, LMultiplier[ftDynamic].value, LMultiplier[ftDynamic].Max);
+ }
+ else {
+ // Static friction is used for ctSTRUCTURE when the contact point is not moving.
+ // It is always used for ctBOGEY elements because the friction coefficients
+ // of a tyre depend on the direction of the movement (roll & side directions).
+ // This cannot be handled properly by the so-called "dynamic friction".
+ StaticFriction = true;
+
+ LMultiplier[ftRoll].ForceJacobian = Transform()*FGColumnVector3(0.,1.,0.);
+ LMultiplier[ftSide].ForceJacobian = Transform()*FGColumnVector3(0.,0.,1.);
+ LMultiplier[ftRoll].MomentJacobian = vWhlContactVec * LMultiplier[ftRoll].ForceJacobian;
+ LMultiplier[ftSide].MomentJacobian = vWhlContactVec * LMultiplier[ftSide].ForceJacobian;
+
+ switch(eContactType) {
+ case ctBOGEY:
+ LMultiplier[ftRoll].Max = fabs(BrakeFCoeff * vFn(eX));
+ LMultiplier[ftSide].Max = fabs(FCoeff * vFn(eX));
+ break;
+ case ctSTRUCTURE:
+ LMultiplier[ftRoll].Max = fabs(staticFCoeff * vFn(eX));
+ LMultiplier[ftSide].Max = fabs(staticFCoeff * vFn(eX));
+ break;
+ }
+
+ LMultiplier[ftRoll].Min = -LMultiplier[ftRoll].Max;
+ LMultiplier[ftSide].Min = -LMultiplier[ftSide].Max;
+ LMultiplier[ftRoll].value = Constrain(LMultiplier[ftRoll].Min, LMultiplier[ftRoll].value, LMultiplier[ftRoll].Max);
+ LMultiplier[ftSide].value = Constrain(LMultiplier[ftSide].Min, LMultiplier[ftSide].value, LMultiplier[ftSide].Max);
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This function is used by the MultiplierIterator class to enumerate the
+// Lagrange multipliers of a landing gear. This allows to encapsulate the storage
+// of the multipliers in FGLGear without exposing it. From an outside point of
+// view, each FGLGear instance has a number of Lagrange multipliers which can be
+// accessed through this routine without knowing the exact constraint which they
+// model.
+
+FGPropagate::LagrangeMultiplier* FGLGear::GetMultiplierEntry(int entry)
+{
+ switch(entry) {
+ case 0:
+ if (StaticFriction)
+ return &LMultiplier[ftRoll];
+ else
+ return &LMultiplier[ftDynamic];
+ case 1:
+ if (StaticFriction)
+ return &LMultiplier[ftSide];
+ default:
+ return NULL;
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This routine is called after the Lagrange multiplier has been computed. The
+// friction forces of the landing gear are then updated accordingly.
+FGColumnVector3& FGLGear::UpdateForces(void)
+{
+ if (StaticFriction) {
+ vFn(eY) = LMultiplier[ftRoll].value;
+ vFn(eZ) = LMultiplier[ftSide].value;
+ }
+ else
+ vFn += LMultiplier[ftDynamic].value * (Transform ().Transposed() * LMultiplier[ftDynamic].ForceJacobian);
+
+ // Return the updated force in the body frame
+ return FGForce::GetBodyForces();
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGLGear::bind(void)
base_property_name = CreateIndexedPropertyName("gear/unit", GearNumber);
if (eContactType == ctBOGEY) {
property_name = base_property_name + "/slip-angle-deg";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &WheelSlip );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &WheelSlip );
property_name = base_property_name + "/WOW";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &WOW );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &WOW );
property_name = base_property_name + "/wheel-speed-fps";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
&FGLGear::GetWheelRollVel);
property_name = base_property_name + "/z-position";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
- &FGLGear::GetZPosition, &FGLGear::SetZPosition);
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), (FGForce*)this,
+ &FGForce::GetLocationZ, &FGForce::SetLocationZ);
property_name = base_property_name + "/compression-ft";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &compressLength );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &compressLength );
property_name = base_property_name + "/side_friction_coeff";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &FCoeff );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &FCoeff );
property_name = base_property_name + "/static_friction_coeff";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &staticFCoeff );
-
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &staticFCoeff );
+ property_name = base_property_name + "/rolling_friction_coeff";
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &rollingFCoeff );
+ property_name = base_property_name + "/dynamic_friction_coeff";
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &dynamicFCoeff );
+
+ if (eSteerType == stCaster) {
+ property_name = base_property_name + "/steering-angle-deg";
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), this, &FGLGear::GetSteerAngleDeg );
+ property_name = base_property_name + "/castered";
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &Castered);
+ }
}
if( isRetractable ) {
property_name = base_property_name + "/pos-norm";
- Exec->GetPropertyManager()->Tie( property_name.c_str(), &GearPos );
+ fdmex->GetPropertyManager()->Tie( property_name.c_str(), &GearPos );
}
-
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
switch(repType) {
case erLand:
cout << endl << "Touchdown report for " << name << " (WOW at time: "
- << Exec->GetState()->Getsim_time() << " seconds)" << endl;
+ << fdmex->GetSimTime() << " seconds)" << endl;
cout << " Sink rate at contact: " << SinkRate << " fps, "
<< SinkRate*0.3048 << " mps" << endl;
cout << " Contact ground speed: " << GroundSpeed*.5925 << " knots, "
break;
case erTakeoff:
cout << endl << "Takeoff report for " << name << " (Liftoff at time: "
- << Exec->GetState()->Getsim_time() << " seconds)" << endl;
+ << fdmex->GetSimTime() << " seconds)" << endl;
cout << " Distance traveled: " << TakeoffDistanceTraveled
<< " ft, " << TakeoffDistanceTraveled*0.3048 << " meters" << endl;
cout << " Distance traveled (over 50'): " << TakeoffDistanceTraveled50ft
<< " ft, " << TakeoffDistanceTraveled50ft*0.3048 << " meters" << endl;
- cout << " [Altitude (ASL): " << Exec->GetPropagate()->GetAltitudeASL() << " ft. / "
- << Exec->GetPropagate()->GetAltitudeASLmeters() << " m | Temperature: "
- << Exec->GetAtmosphere()->GetTemperature() - 459.67 << " F / "
- << RankineToCelsius(Exec->GetAtmosphere()->GetTemperature()) << " C]" << endl;
- cout << " [Velocity (KCAS): " << Exec->GetAuxiliary()->GetVcalibratedKTS() << "]" << endl;
+ cout << " [Altitude (ASL): " << Propagate->GetAltitudeASL() << " ft. / "
+ << Propagate->GetAltitudeASLmeters() << " m | Temperature: "
+ << fdmex->GetAtmosphere()->GetTemperature() - 459.67 << " F / "
+ << RankineToCelsius(fdmex->GetAtmosphere()->GetTemperature()) << " C]" << endl;
+ cout << " [Velocity (KCAS): " << Auxiliary->GetVcalibratedKTS() << "]" << endl;
TakeoffReported = true;
break;
+ case erNone:
+ break;
}
}
if (debug_lvl & 1) { // Standard console startup message output
if (from == 0) { // Constructor - loading and initialization
cout << " " << sContactType << " " << name << endl;
- cout << " Location: " << vXYZ << endl;
+ cout << " Location: " << vXYZn << endl;
cout << " Spring Constant: " << kSpring << endl;
if (eDampType == dtLinear)
cout << " Grouping: " << sBrakeGroup << endl;
cout << " Max Steer Angle: " << maxSteerAngle << endl;
cout << " Retractable: " << isRetractable << endl;
- cout << " Relaxation Velocities:" << endl;
- cout << " Rolling: " << RFRV << endl;
- cout << " Side: " << SFRV << endl;
}
}
}
projects / flightgear.git / blobdiff