public void TestFuselageForceDirections()
{
SingleMainRotorHelicopter model = (SingleMainRotorHelicopter) new SingleMainRotorHelicopter().LoadDefault();
model.MainRotor.useDynamicInflow = false;
model.TailRotor.useDynamicInflow = false;
model.AbsoluteVelocity = Vector <double> .Build.DenseOfArray(new double[] { 0, 0, 0 });
model.AngularVelocity = Vector <double> .Build.Zero3();
model.TrimInit();
model.Trim();
// In a hover, the fuselage should mainly contribute with a down-force (due to main rotor downwash)
Console.WriteLine("Fuselage hover F " + model.Fuselage.ForceContribution.ToStr() + " M " + model.Fuselage.TorqueContribution.ToStr());
Assert.IsTrue(model.Fuselage.ForceContribution.z() > 100);
Assert.IsTrue(Math.Abs(model.Fuselage.ForceContribution.z()) / model.Fuselage.ForceContribution.Norm(2) > 0.9);
// In forward flight, the fuselage should mainly contribute with drag
model.AbsoluteVelocity = Vector <double> .Build.DenseOfArray(new double[] { 30, 0, 0 });
model.Update(0.1);
Console.WriteLine("Fuselage forward F " + model.Fuselage.ForceContribution.ToStr() + " M " + model.Fuselage.TorqueContribution.ToStr());
Assert.IsTrue(model.Fuselage.ForceContribution.x() < -100);
Assert.IsTrue(Math.Abs(model.Fuselage.ForceContribution.x()) / model.Fuselage.ForceContribution.Norm(2) > 0.9);
}
public void TestSerialize()
{
SingleMainRotorHelicopter model = (SingleMainRotorHelicopter) new SingleMainRotorHelicopter().LoadDefault();
Console.WriteLine(model.Inertia[0, 0]);
// One way to skin a cat...
/*
* var serializer = new JavaScriptSerializer();
* serializer.RegisterConverters(new JavaScriptConverter[] {
* // TODO custom serializer handling vectors and matrices.. ugh.
* });
* var json = serializer.Serialize(model);
* Console.WriteLine(json);
* model = serializer.Deserialize<SingleMainRotorHelicopter>(json);
* var json2 = serializer.Serialize(model);
* Console.WriteLine(json);
* Assert.AreEqual(json, json2);
*/
// And another way...
var json = Newtonsoft.Json.JsonConvert.SerializeObject(model, Formatting.Indented);
Console.WriteLine(json);
model = JsonConvert.DeserializeObject <SingleMainRotorHelicopter>(json);
Assert.IsNotNull(model.Inertia[0, 0]);
Console.WriteLine(model.Inertia[0, 0]);
}
public void TestTrimSweep()
{
SingleMainRotorHelicopter model = (SingleMainRotorHelicopter) new SingleMainRotorHelicopter().LoadDefault();
model.MainRotor.useDynamicInflow = false;
model.TailRotor.useDynamicInflow = false;
model.FCS.trimControl = false;
TrimSweep(model);
}
public override Helicopter SetupModelForSimulation()
{
SingleMainRotorHelicopter model = (SingleMainRotorHelicopter) new SingleMainRotorHelicopter().LoadDefault();
model.MainRotor.useDynamicInflow = false;
model.TailRotor.useDynamicInflow = false;
model.FCS.trimControl = false;
model.TrimInit();
model.Trim();
return(model);
}
public void TestStabilizersForceDirections()
{
SingleMainRotorHelicopter model = (SingleMainRotorHelicopter) new SingleMainRotorHelicopter().LoadDefault();
model.MainRotor.useDynamicInflow = false;
model.TailRotor.useDynamicInflow = false;
// Trim going downward and right
model.AbsoluteVelocity = Vector <double> .Build.DenseOfArray(new double[] { 0, 5, 5 });
model.AngularVelocity = Vector <double> .Build.Zero3();
model.TrimInit();
model.Trim();
Console.WriteLine("H/S F " + model.HorizontalStabilizer.ForceContribution.ToStr() + " M " + model.HorizontalStabilizer.TorqueContribution.ToStr());
Console.WriteLine("V/S F " + model.VerticalStabilizer.ForceContribution.ToStr() + " M " + model.VerticalStabilizer.TorqueContribution.ToStr());
// Horizontal stabilizer should give nose-down pitching moment
Assert.IsTrue(model.HorizontalStabilizer.TorqueContribution.y() < -100);
// Vertical stabilizer should give nose-right yaw moment
Assert.IsTrue(model.VerticalStabilizer.TorqueContribution.z() > 100);
// Nose-right angular velocity should give nose-left yaw moment
model.AbsoluteVelocity = Vector <double> .Build.Zero3();
model.AngularVelocity = Vector <double> .Build.DenseOfArray(new double[] { 0, 0, 5 });
model.Update(0.1);
Console.WriteLine("A/V nose right V/S F " + model.VerticalStabilizer.ForceContribution.ToStr() + " M " + model.VerticalStabilizer.TorqueContribution.ToStr());
Assert.IsTrue(model.VerticalStabilizer.TorqueContribution.z() < -100);
// Nose-down angular velocity should give nose-up pitching moment
model.AbsoluteVelocity = Vector <double> .Build.Zero3();
model.AngularVelocity = Vector <double> .Build.DenseOfArray(new double[] { 0, -5, 0 });
model.Update(0.1);
Console.WriteLine("A/V nose down H/S F " + model.HorizontalStabilizer.ForceContribution.ToStr() + " M " + model.HorizontalStabilizer.TorqueContribution.ToStr());
Assert.IsTrue(model.HorizontalStabilizer.TorqueContribution.y() > 100);
}
public void TrimTheModel()
{
// Trimming means to find the inputs (collective, cyclic, pedal, attitude) that
// results in equilibrium, i.e. outputs (forces, moments) are near zero
SingleMainRotorHelicopter model = (SingleMainRotorHelicopter) new SingleMainRotorHelicopter().LoadDefault();
model.FCS.trimControl = false;
model.TrimInit();
model.Trim();
LogTrimState(model);
AssertTrimmed(model);
// Sanity-check: the main-rotor should contribute to most of the upward force,
// i.e. be somewhat equal to mass * gravity
Assert.IsTrue(-model.MainRotor.Force[2] / (model.Mass * 9.81) > 0.9);
Console.WriteLine("Wash velocity " + model.MainRotor.WashVelocity.ToStr());
Console.WriteLine("Fuselage velocity " + model.Fuselage.Velocity.ToStr());
Console.WriteLine("Horizontal stabilizer velocity " + model.HorizontalStabilizer.Velocity.ToStr());
Console.WriteLine("Vertical stabilizer velocity " + model.VerticalStabilizer.Velocity.ToStr());
Console.WriteLine("Velocity " + model.Velocity.ToStr());
}
public SingleMainRotorHelicopter()
{
_model = new HeliSharp.SingleMainRotorHelicopter();
}
