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Merge remote-tracking branch 'origin/develop' into gust_vanes
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‎docs/source/content/example_notebooks/UDP_control/control_design_script.m‎

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function [success] = control_design_script(route_directory)
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addpath(strcat(route_directory,'/matlab_functions/'));
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success = false;
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%% Define parameters;
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case_name = 'pazy_ROM';
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output_folder = strcat(route_directory,'/output/',case_name);
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output_folder_linear = strcat(output_folder, '/linear_results/');
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complex_matrices = true;
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%% Reade from SHARPy generated state space model
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[state_space_system, eta_ref] = read_SHARPy_state_space_system(...
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strcat(case_name, '.linss.h5'), ...
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strcat(output_folder, '/savedata/'), ...
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complex_matrices...
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);
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%% Load simulation settings and store in struct
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load(strcat(output_folder_linear, 'simulation_parameters.mat'));
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n_nodes = uint8(n_nodes);
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rigid_body_motions = false;
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input_settings = set_input_parameters(u_inf, ...
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state_space_system.Ts, ...
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num_modes, ...
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num_aero_states, ...
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rigid_body_motions, ...
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simulation_time, ...
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num_control_surfaces, ...
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n_nodes, ...
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control_input_start, ...
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gust_input_start);
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%% Remove unused input and outputs from the generated ROM in SHARPy and link deflection and its rate
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state_space_system = adjust_state_space_system(state_space_system, input_settings);
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%% Get gust input
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gust = get_1minuscosine_gust_input(...
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gust_length, ...
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gust_intensity, ...
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state_space_system.Ts, ...
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u_inf, ...
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simulation_time);
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%% Configure Simulink Inputs
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model_name = "PID_linear_model";
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simIn = Simulink.SimulationInput(model_name);
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simIn = setVariable(simIn,'D_gain',0);
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simIn = setVariable(simIn,'P_gain',0);
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simIn = setVariable(simIn,'I_gain',0);
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simIn = setVariable(simIn,'state_space_system',state_space_system);
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simIn = setVariable(simIn,'input_settings',input_settings);
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simIn = setVariable(simIn,'gust', gust);
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%% Run Simulink with PID Controller
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warning('off','all');
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% open loop
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fprintf('Simulate linear open-loop gust response.')
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simIn = setVariable(simIn,'controller_on',0);
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out_open_loop = sim(simIn);
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% closed loop P = 5
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simIn = setVariable(simIn,'controller_on',1);
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simIn = setVariable(simIn,'P_gain',5);
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fprintf('Simulate linear closed-loop gust response with P=5.')
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out_PID_5 = sim(simIn);
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% closed loop P = 10
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simIn = setVariable(simIn,'P_gain',10);
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fprintf('Simulate linear closed-loop gust response with P=10.')
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out_PID_10 = sim(simIn);
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%% Save results
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deflection = [out_PID_5.delta.Data(:,1)...
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out_PID_10.delta.Data(:,1)...
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zeros(size(out_PID_5.delta.Time, 1), 1)];
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deflection_rate = [out_PID_5.delta_dot.Data(:,1)...
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out_PID_10.delta_dot.Data(:,1)...
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zeros(size(out_PID_5.delta_dot.Time, 1), 1)];
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tip_deflection = [out_PID_5.actual_output.Data(:,1)...
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out_PID_10.actual_output.Data(:,1)...
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out_open_loop.actual_output.Data(:,1)];
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tip_deflection= tip_deflection + eta_ref(n_nodes/2*6-3);
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time_array = out_open_loop.tout;
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output_folder_linear = strcat(output_folder, '/linear_results/')
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writematrix(deflection, strcat(output_folder_linear, 'deflection.txt'),'Delimiter',',');
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writematrix(time_array, strcat(output_folder_linear, 'time_array_linear.txt'),'Delimiter',',');
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writematrix(deflection_rate,strcat(output_folder_linear, './deflection_rate.txt'),'Delimiter',',');
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writematrix(tip_deflection,strcat(output_folder_linear, './tip_deflection.txt'),'Delimiter',',');
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success = true
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end

‎docs/source/content/example_notebooks/UDP_control/get_settings_udp.py‎

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"""
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Script to set the required SHARPy settings for all cases within
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the UDP Control example notebook.
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"""
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def get_settings_udp(model, flow, **kwargs):
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gust = kwargs.get('gust', False)
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horseshoe = kwargs.get('horseshoe', False)
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gravity = kwargs.get('gravity', True)
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wake_length_factor = kwargs.get('wake_length_factor', 10)
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num_cores = kwargs.get('num_cores', 2)
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num_modes = kwargs.get('num_modes', 20)
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free_flight = kwargs.get('free_flight', False)
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tolerance = kwargs.get('tolerance', 1e-6)
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n_load_steps = kwargs.get('n_load_steps', 5)
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fsi_tolerance = kwargs.get('fsi_tolerance', 1e-6)
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relaxation_factor = kwargs.get('relaxation_factor', 0.1)
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newmark_damp = kwargs.get('newmark_damp', 0.5e-4)
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output_folder = kwargs.get('output_folder', './output/')
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model.config['SHARPy'] = {'case': model.case_name,
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'route': model.route,
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'flow': flow,
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'write_screen': kwargs.get('write_screen', 'on'),
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'write_log': 'on',
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'save_settings': 'on',
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'log_folder': output_folder + '/',
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'log_file': model.case_name + '.log'}
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model.config['BeamLoader'] = {'unsteady': 'off',
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'orientation': model.quat}
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model.config['AerogridLoader'] = {'unsteady': 'on',
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'aligned_grid': 'on',
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'mstar': wake_length_factor*model.M, #int(20/tstep_factor),
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'wake_shape_generator': 'StraightWake',
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'wake_shape_generator_input': {
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'u_inf':model.u_inf,
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'u_inf_direction': [1., 0., 0.],
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'dt':model.dt,
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},
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}
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if horseshoe:
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model.config['AerogridLoader']['mstar'] = 1
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model.config['StaticCoupled'] = {
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'print_info': 'on',
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'max_iter': 200,
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'n_load_steps': n_load_steps,
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'tolerance': 1e-5,
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'relaxation_factor': relaxation_factor,
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'aero_solver': 'StaticUvlm',
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'aero_solver_settings': {
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'rho': model.rho,
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'print_info': 'off',
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'horseshoe': 'on',
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'num_cores': num_cores,
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'n_rollup': 0,
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'velocity_field_generator': 'SteadyVelocityField',
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'velocity_field_input': {
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'u_inf': model.u_inf,
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'u_inf_direction': model.u_inf_direction},
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'vortex_radius': 1e-9},
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'structural_solver': 'NonLinearStatic',
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'structural_solver_settings': {'print_info': 'off',
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'max_iterations': 200,
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'num_load_steps': 5,
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'delta_curved': 1e-6,
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'min_delta': 1e-8,
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'gravity': gravity,
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'gravity': 9.81},
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}
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model.config['AerogridPlot'] = {'include_rbm': 'off',
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'include_applied_forces': 'on',
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'minus_m_star': 0}
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model.config['BeamPlot'] = {'include_rbm': 'off',
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'include_applied_forces': 'on'}
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model.config['WriteVariablesTime'] = {'structure_variables': ['pos'],
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'structure_nodes': list(range(0, model.num_node_surf)),
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'cleanup_old_solution': 'on',
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}
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model.config['DynamicCoupled'] = {'print_info': 'on',
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'structural_substeps': 10,
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'dynamic_relaxation': 'on',
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'cleanup_previous_solution': 'on',
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'structural_solver': 'NonLinearDynamicPrescribedStep',
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'structural_solver_settings': {'print_info': 'off',
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'max_iterations': 950,
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'delta_curved': 1e-1,
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'min_delta': tolerance,
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'newmark_damp': newmark_damp,
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'gravity': gravity,
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'gravity': 9.81,
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'num_steps': model.n_tstep,
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'dt':model.dt,
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},
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'aero_solver': 'StepUvlm',
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'aero_solver_settings': {'print_info': 'on',
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'num_cores': num_cores,
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'convection_scheme': 2,
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'velocity_field_generator': 'SteadyVelocityField',
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'velocity_field_input': {'u_inf': model.u_inf,
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'u_inf_direction': [1., 0., 0.]},
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'rho': model.rho,
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'n_time_steps': model.n_tstep,
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'vortex_radius': 1e-9,
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'dt': model.dt,
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'gamma_dot_filtering': 3},
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'fsi_substeps': 200,
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'fsi_tolerance': fsi_tolerance,
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'relaxation_factor': model.relaxation_factor,
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'minimum_steps': 1,
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'relaxation_steps': 150,
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'final_relaxation_factor': 0.0,
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'n_time_steps': model.n_tstep,
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'dt': model.dt,
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'include_unsteady_force_contribution': kwargs.get('unsteady_force_distribution', True),
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'postprocessors': ['WriteVariablesTime', 'BeamPlot', 'AerogridPlot'],
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'postprocessors_settings': {'BeamPlot': {'include_rbm': 'on',
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'include_applied_forces': 'on'},
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'StallCheck': {},
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'AerogridPlot': {
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'u_inf': model.u_inf,
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'include_rbm': 'on',
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'include_applied_forces': 'on',
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'minus_m_star': 0},
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'WriteVariablesTime': {
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'structure_variables': ['pos', 'psi'],
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'structure_nodes': [model.num_node_surf - 1,
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model.num_node_surf,
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model.num_node_surf + 1],
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},
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},
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'network_settings': kwargs.get('network_settings', {}),
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}
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if gust:
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gust_settings = kwargs.get('gust_settings', {'gust_shape': '1-cos',
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'gust_length': 10.,
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'gust_intensity': 0.01,
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'gust_offset': 0.})
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model.config['DynamicCoupled']['aero_solver_settings']['velocity_field_generator'] = 'GustVelocityField'
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model.config['DynamicCoupled']['aero_solver_settings']['velocity_field_input'] = {'u_inf': model.u_inf,
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'u_inf_direction': [1., 0, 0],
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'relative_motion': bool(not free_flight),
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'offset': gust_settings['gust_offset'],
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'gust_shape': gust_settings['gust_shape'],
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'gust_parameters': {
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'gust_length': gust_settings['gust_length'],
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'gust_intensity': gust_settings['gust_intensity'] * model.u_inf,
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}
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}
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model.config['PickleData'] = {}
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model.config['LinearAssembler'] = {'linear_system': 'LinearAeroelastic',
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'inout_coordinates': 'nodes',
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# 'recover_accelerations': True,
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'linear_system_settings': {
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'beam_settings': {'modal_projection': True,
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'inout_coords': 'modes',
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'discrete_time': True,
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'newmark_damp': newmark_damp,
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'discr_method': 'newmark',
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'dt': model.dt,
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'proj_modes': 'undamped',
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'num_modes': num_modes,
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'print_info': 'on',
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'gravity': gravity,
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'remove_dofs': []},
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'aero_settings': {'dt': model.dt,
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'integr_order': 2,
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'density': model.rho,
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'remove_predictor': True,
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'use_sparse': 'off',
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'gust_assembler': 'LeadingEdge',
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'ScalingDict': kwargs.get('scaling_dict', {'length':1, 'speed': 1, 'density': 1}),
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},
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'track_body': free_flight,
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'use_euler': free_flight,
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}}
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model.config['Modal'] = {'print_info': True,
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'use_undamped_modes': True,
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'NumLambda': num_modes,
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'rigid_body_modes': free_flight,
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'write_modes_vtk': False,
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'print_matrices': False,
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'continuous_eigenvalues': 'off',
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'dt': model.dt,
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'plot_eigenvalues': False,
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}
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model.config['SaveData']['save_linear'] = True
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if kwargs.get('remove_gust_input_in_statespace', False):
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model.config['LinearAssembler']['linear_system_settings']['aero_settings']['remove_inputs'] = ['u_gust']
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rom_settings = kwargs.get('rom_settings', {'use': False})
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if rom_settings['use']:
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model.config['LinearAssembler']['linear_system_settings']['aero_settings']['rom_method'] = rom_settings['rom_method'],
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model.config['LinearAssembler']['linear_system_settings']['aero_settings']['rom_method_settings'] = rom_settings['rom_method_settings']
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return model.config

‎docs/source/content/example_notebooks/UDP_control/matlab_functions/PID_linear_model.slx‎

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‎docs/source/content/example_notebooks/UDP_control/matlab_functions/adjust_state_space_system.m‎

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function state_space_converted = adjust_state_space_system(state_space_system, input_settings)
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%convert_state_space_for_LQR Adjust extracted state space system
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% The loaded state space system exported from SHARPy is adjusted here for
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% the closed-loop simulations. This includes:
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% - extracts the column from the B and D matrices that describe the
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% effect of the gust input to the states
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% - removing all unused inputs and rearranging for example the
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% deflection of a control surface and its rate as both depend on
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% each other
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% - removes not considered outputs
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% - assembles updated discrete state space system
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%% Reduce model by deleting unused outupts (only tip deflection relevant here)
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C_sensor = state_space_system.C(input_settings.index.tip_displacement,:);
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D_sensor = state_space_system.D(input_settings.index.tip_displacement,:);
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%% Reduce model with not used inputs
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idx_input_end =input_settings.index.control_input_start + 2 * input_settings.num_control_surfaces - 1;
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idx_inputs = [input_settings.index.control_input_start:idx_input_end];
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B_cs = state_space_system.B(:,idx_inputs);
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D_cs = D_sensor(:,idx_inputs);
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%% Extract delta to state
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new_A_colum = B_cs(:,1 :input_settings.num_control_surfaces);
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A = [state_space_system.A new_A_colum; ...
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zeros(input_settings.num_control_surfaces,...
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(size(state_space_system.A,2)+ input_settings.num_control_surfaces))];
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for counter = 0:1:input_settings.num_control_surfaces-1
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A(size(A,1)-counter,size(A,2)-counter) = 1; % Explain one
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end
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%Delete delta input and add delta_dot influence on delta
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B_cs(:,1:input_settings.num_control_surfaces) = [];
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B_cs = [B_cs; eye(input_settings.num_control_surfaces) * state_space_system.Ts];
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% Adding feed through of the delta-input on the output on C and deleting
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% column added in C out of D; new column
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C = [C_sensor D_cs(:,1:input_settings.num_control_surfaces)];
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D_cs(:, 1:input_settings.num_control_surfaces) = [];
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%% Get Disturbance Matrices
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G = [state_space_system.B(:,input_settings.index.gust_input_start); ...
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zeros(input_settings.num_control_surfaces, 1)];
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H = D_sensor(:,input_settings.index.gust_input_start);
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%% Assemble final state space system
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state_space_converted = ss(A,[B_cs G],C,[D_cs H],state_space_system.Ts);
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end

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