X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2Fmodels%2FFGMassBalance.h;h=9b11290b1da451607bcaa2a7b9e89774344eb8e4;hb=642735ab18421db87a07d6841dd720fd4615bfff;hp=34f6f9cd6bc127c59853993c72f77d033ac9362f;hpb=70be1629e61d9b751a2f73df30b83bb1be6ca4fe;p=flightgear.git diff --git a/src/FDM/JSBSim/models/FGMassBalance.h b/src/FDM/JSBSim/models/FGMassBalance.h index 34f6f9cd6..9b11290b1 100644 --- a/src/FDM/JSBSim/models/FGMassBalance.h +++ b/src/FDM/JSBSim/models/FGMassBalance.h @@ -4,7 +4,7 @@ Author: Jon S. Berndt Date started: 09/12/2000 - ------------- Copyright (C) 2000 Jon S. Berndt (jsb@hal-pc.org) -------------- + ------------- Copyright (C) 2000 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 @@ -39,21 +39,24 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGModel.h" -#include -#include -#include +#include "math/FGColumnVector3.h" +#include "math/FGMatrix33.h" +#include "input_output/FGXMLElement.h" #include +#include /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_MASSBALANCE "$Id$" +#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.27 2011/11/09 21:58:26 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONSS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ +using std::string; + namespace JSBSim { /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -62,7 +65,11 @@ CLASS DOCUMENTATION /** Models weight, balance and moment of inertia information. Maintains a vector of point masses. Sums the contribution of all, and provides this to FGPropagate. - Loads the \ section of the aircraft configuration file. + Loads the \ section of the aircraft configuration file. There + can be any number of . Each can also have a shape which - if + present - causes an associated moment of inertia to be calculated based on + the shape. Note that a cylinder is solid, a tube is hollow, a ball is solid + and a sphere is hollow.

Configuration File Format:

@code @@ -74,20 +81,24 @@ CLASS DOCUMENTATION {number} {number} {number} - + {number} {number} {number} - + [ +
+ {number} + {number} +
{number} - + {number} {number} {number} - ... other point masses ... + ... other point masses ...] @endcode */ @@ -105,25 +116,35 @@ public: bool Load(Element* el); bool InitModel(void); - bool Run(void); - - inline double GetMass(void) const {return Mass;} - inline double GetWeight(void) const {return Weight;} - inline FGColumnVector3& GetXYZcg(void) {return vXYZcg;} - inline double GetXYZcg(int axis) const {return vXYZcg(axis);} + /** Runs the Mass Balance model; called by the Executive + Can pass in a value indicating if the executive is directing the simulation to Hold. + @param Holding if true, the executive has been directed to hold the sim from + advancing time. Some models may ignore this flag, such as the Input + model, which may need to be active to listen on a socket for the + "Resume" command to be given. + @return false if no error */ + bool Run(bool Holding); + + double GetMass(void) const {return Mass;} + double GetWeight(void) const {return Weight;} + double GetEmptyWeight(void) const {return EmptyWeight;} + const FGColumnVector3& GetXYZcg(void) const {return vXYZcg;} + double GetXYZcg(int axis) const {return vXYZcg(axis);} + const FGColumnVector3& GetDeltaXYZcg(void) const {return vDeltaXYZcg;} + double GetDeltaXYZcg(int axis) const {return vDeltaXYZcg(axis);} /** Computes the inertia contribution of a pointmass. Computes and returns the inertia matrix of a pointmass of mass slugs at the given vector r in the structural frame. The units should be for the mass in slug and the vector in the structural frame as usual in inches. - @param slugs the mass of this single pointmass given in slugs + @param mass_sl the mass of this single pointmass given in slugs @param r the location of this single pointmass in the structural frame */ - FGMatrix33 GetPointmassInertia(double slugs, const FGColumnVector3& r) const + FGMatrix33 GetPointmassInertia(double mass_sl, const FGColumnVector3& r) const { FGColumnVector3 v = StructuralToBody( r ); - FGColumnVector3 sv = slugs*v; + FGColumnVector3 sv = mass_sl*v; double xx = sv(1)*v(1); double yy = sv(2)*v(2); double zz = sv(3)*v(3); @@ -146,17 +167,27 @@ public: */ FGColumnVector3 StructuralToBody(const FGColumnVector3& r) const; - inline void SetEmptyWeight(double EW) { EmptyWeight = EW;} - inline void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;} + void SetEmptyWeight(double EW) { EmptyWeight = EW;} + void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;} void AddPointMass(Element* el); - double GetTotalPointMassWeight(void); + double GetTotalPointMassWeight(void) const; - FGColumnVector3& GetPointMassMoment(void); - FGMatrix33& GetJ(void) {return mJ;} - FGMatrix33& GetJinv(void) {return mJinv;} - void SetAircraftBaseInertias(FGMatrix33 BaseJ) {baseJ = BaseJ;} + const FGColumnVector3& GetPointMassMoment(void); + const FGMatrix33& GetJ(void) const {return mJ;} + const FGMatrix33& GetJinv(void) const {return mJinv;} + void SetAircraftBaseInertias(const FGMatrix33& BaseJ) {baseJ = BaseJ;} + void GetMassPropertiesReport(void) const; + struct Inputs { + double GasMass; + double TanksWeight; + FGColumnVector3 GasMoment; + FGMatrix33 GasInertia; + FGColumnVector3 TanksMoment; + FGMatrix33 TankInertia; + } in; + private: double Weight; double EmptyWeight; @@ -166,42 +197,80 @@ private: FGMatrix33 pmJ; FGMatrix33 baseJ; FGColumnVector3 vXYZcg; + FGColumnVector3 vLastXYZcg; + FGColumnVector3 vDeltaXYZcg; + FGColumnVector3 vDeltaXYZcgBody; FGColumnVector3 vXYZtank; FGColumnVector3 vbaseXYZcg; FGColumnVector3 vPMxyz; FGColumnVector3 PointMassCG; - FGMatrix33& CalculatePMInertias(void); + const FGMatrix33& CalculatePMInertias(void); + + /** The PointMass structure encapsulates a point mass object, moments of inertia + mass, location, etc. */ struct PointMass { PointMass(double w, FGColumnVector3& vXYZ) { Weight = w; Location = vXYZ; + mPMInertia.InitMatrix(); + Radius = 0.0; + Length = 0.0; + } + + void CalculateShapeInertia(void) { + switch(eShapeType) { + case esTube: + mPMInertia(1,1) = (Weight/(slugtolb))*Radius*Radius; // mr^2 + mPMInertia(2,2) = (Weight/(slugtolb*12))*(6*Radius*Radius + Length*Length); + mPMInertia(3,3) = mPMInertia(2,2); + break; + case esCylinder: + mPMInertia(1,1) = (Weight/(slugtolb*2))*Radius*Radius; // 0.5*mr^2 + mPMInertia(2,2) = (Weight/(slugtolb*12))*(3*Radius*Radius + Length*Length); + mPMInertia(3,3) = mPMInertia(2,2); + break; + case esSphere: + mPMInertia(1,1) = (Weight/(slugtolb*3))*Radius*Radius*2; // (2mr^2)/3 + mPMInertia(2,2) = mPMInertia(1,1); + mPMInertia(3,3) = mPMInertia(1,1); + case esBall: + mPMInertia(1,1) = (Weight/(slugtolb*5))*Radius*Radius*2; // (2mr^2)/5 + mPMInertia(2,2) = mPMInertia(1,1); + mPMInertia(3,3) = mPMInertia(1,1); + break; + default: + break; + } } + + enum esShape {esUnspecified, esTube, esCylinder, esSphere, esBall} eShapeType; FGColumnVector3 Location; - double Weight; + double Weight; /// Weight in pounds. + double Radius; /// Radius in feet. + double Length; /// Length in feet. + string Name; + FGMatrix33 mPMInertia; + double GetPointMassLocation(int axis) const {return Location(axis);} + double GetPointMassWeight(void) const {return Weight;} + esShape GetShapeType(void) {return eShapeType;} + const FGColumnVector3& GetLocation(void) {return Location;} + const FGMatrix33& GetPointMassInertia(void) {return mPMInertia;} + const string& GetName(void) {return Name;} + void SetPointMassLocation(int axis, double value) {Location(axis) = value;} void SetPointMassWeight(double wt) {Weight = wt;} - double GetPointMassWeight(void) const {return Weight;} + void SetPointMassShapeType(esShape st) {eShapeType = st;} + void SetRadius(double r) {Radius = r;} + void SetLength(double l) {Length = l;} + void SetName(string name) {Name = name;} + double GetPointMassMoI(int r, int c) {return mPMInertia(r,c);} - void bind(FGPropertyManager* PropertyManager, int num) { - string tmp = CreateIndexedPropertyName("inertia/pointmass-weight-lbs", num); - PropertyManager->Tie( tmp.c_str(), this, &PointMass::GetPointMassWeight, - &PointMass::SetPointMassWeight); - - tmp = CreateIndexedPropertyName("inertia/pointmass-location-X-inches", num); - PropertyManager->Tie( tmp.c_str(), this, eX, &PointMass::GetPointMassLocation, - &PointMass::SetPointMassLocation); - tmp = CreateIndexedPropertyName("inertia/pointmass-location-Y-inches", num); - PropertyManager->Tie( tmp.c_str(), this, eY, &PointMass::GetPointMassLocation, - &PointMass::SetPointMassLocation); - tmp = CreateIndexedPropertyName("inertia/pointmass-location-Z-inches", num); - PropertyManager->Tie( tmp.c_str(), this, eZ, &PointMass::GetPointMassLocation, - &PointMass::SetPointMassLocation); - } + void bind(FGPropertyManager* PropertyManager, int num); }; - vector PointMasses; + std::vector PointMasses; void bind(void); void Debug(int from);