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Fix copy to simple #80

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Merged
1-Bart-1 merged 2 commits into from
Aug 7, 2025
Merged

Fix copy to simple #80

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3ad714b
Fix non-persistent state bug
1-Bart-1 Aug 7, 2025
bbff1ed
Improve test
1-Bart-1 Aug 7, 2025
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35 changes: 35 additions & 0 deletions examples/tether_props.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -49,3 +49,38 @@ display(plotx(
title="Force step response",
ylabels=["Left power [m]", "Right power [m]", "Left steering [m]", "Right steering [m]"],
))

# --- Calculate Properties and Get Step Response Data ---
find_steady_state!(one_seg_sam; t=10.0, dt=3.0)
axial_stiffness, axial_damping, tether_lens, dt =
SymbolicAWEModels.calc_spring_props(one_seg_sam, one_seg_tether_sam; F_step=-0.1)

# --- Print Comparison Table ---
segments = one_seg_sam.sys_struct.segments
tethers = one_seg_sam.sys_struct.tethers
segments = [segments[tether.segment_idxs[1]] for tether in tethers]
real_axial_stiffness = [segment.axial_stiffness for segment in segments]
real_axial_damping = [segment.axial_damping for segment in segments]

println("\n--- Tether Spring Properties ---")
@printf "%-8s | %-15s %-15s %-10s | %-15s %-15s %-10s\n" "Tether" "Calc. Stiffness" "Real Stiffness" "Error (%)" "Calc. Damping" "Real Damping" "Error (%)"
println(repeat("-", 100))
for i in 1:4
# Calculate relative errors in percent
stiffness_err = 100 * abs(axial_stiffness[i] - real_axial_stiffness[i]) / real_axial_stiffness[i]
damping_err = 100 * abs(axial_damping[i] - real_axial_damping[i]) / real_axial_damping[i]
# Print data rows
@printf "%-8d | %-15.2f %-15.2f %-10.2f | %-15.2f %-15.2f %-10.2f\n" i axial_stiffness[i] real_axial_stiffness[i] stiffness_err axial_damping[i] real_axial_damping[i] damping_err
end

# --- Plot Step Response ---
steps = size(tether_lens, 2) - 1
display(plotx(
dt .* collect(0:steps),
tether_lens[1,:] .- tether_lens[1,1],
tether_lens[2,:] .- tether_lens[2,1],
tether_lens[3,:] .- tether_lens[3,1],
tether_lens[4,:] .- tether_lens[4,1];
title="Force step response",
ylabels=["Left power [m]", "Right power [m]", "Left steering [m]", "Right steering [m]"],
))
16 changes: 10 additions & 6 deletions src/system_structure.jl
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Expand Up @@ -1021,8 +1021,9 @@ function copy!(sys1::SystemStructure, sys2::SystemStructure)
if length(sys1.points) > 0
if length(sys1.points) == length(sys2.points)
for (point1, point2) in zip(sys1.points, sys2.points)
point2.pos_w = point1.pos_w
point2.vel_w = point1.vel_w
point2.pos_w .= point1.pos_w
point2.vel_w .= point1.vel_w
point2.disturb .= point1.disturb
end
# if different number of points, copy only the tether points
elseif length(sys1.tethers) > 1 && length(sys1.tethers) == length(sys2.tethers)
Expand All @@ -1035,6 +1036,7 @@ function copy!(sys1::SystemStructure, sys2::SystemStructure)
for (point_idx1, point_idx2) in zip(point_idxs1, point_idxs2)
sys2.points[point_idx2].pos_w .= sys1.points[point_idx1].pos_w
sys2.points[point_idx2].vel_w .= sys1.points[point_idx1].vel_w
sys2.points[point_idx2].disturb .= sys1.points[point_idx1].disturb
end
end
elseif length(tether2.segment_idxs) == 1
Expand All @@ -1046,6 +1048,8 @@ function copy!(sys1::SystemStructure, sys2::SystemStructure)
sys2.points[point_idxs2[2]].pos_w .= sys1.points[point_idxs1[2]].pos_w
sys2.points[point_idxs2[1]].vel_w .= sys1.points[point_idxs1[1]].vel_w
sys2.points[point_idxs2[2]].vel_w .= sys1.points[point_idxs1[2]].vel_w
sys2.points[point_idxs2[1]].disturb .= sys1.points[point_idxs1[1]].disturb
sys2.points[point_idxs2[2]].disturb .= sys1.points[point_idxs1[2]].disturb
simple = true
end
end
Expand Down Expand Up @@ -1094,10 +1098,10 @@ function copy!(sys1::SystemStructure, sys2::SystemStructure)
# copy wing positions and velocities
if length(sys1.wings) > 1 && length(sys1.wings) == length(sys2.wings)
for (wing1, wing2) in zip(sys1.wings, sys2.wings)
wing2.pos_w = wing1.pos_w
wing2.vel_w = wing1.vel_w
wing2.ω_b = wing1.ω_b
wing2.Q_b_w = wing1.Q_b_w
wing2.pos_w .= wing1.pos_w
wing2.vel_w .= wing1.vel_w
wing2.ω_b .= wing1.ω_b
wing2.Q_b_w .= wing1.Q_b_w
end
end
end
5 changes: 5 additions & 0 deletions src/tether_properties.jl
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Expand Up @@ -69,6 +69,7 @@ function copy_to_simple!(sys::SystemStructure, ssys::SystemStructure)
spoint_idx = ssys.segments[stether.segment_idxs[1]].point_idxs[2]
ssys.points[spoint_idx].pos_w .= sys.points[point_idx].pos_w
ssys.points[spoint_idx].vel_w .= sys.points[point_idx].vel_w
ssys.points[spoint_idx].disturb .= sys.points[point_idx].disturb
end

# copy wing state
Expand Down Expand Up @@ -170,10 +171,14 @@ function calc_spring_props(sam::SymbolicAWEModel, tether_sam::SymbolicAWEModel;
F_step=-0.1, prn=false)
find_steady_state!(sam; t=10.0, dt=10.0, vsm_interval=0)
copy!(sam.sys_struct, tether_sam.sys_struct)
@show tether_sam.sys_struct.segments[1].force
@show tether_sam.sys_struct.points[1].disturb
OrdinaryDiffEqCore.reinit!(tether_sam.integrator; reinit_dae=true)
update_sys_struct!(tether_sam, tether_sam.sys_struct)
@show tether_sam.sys_struct.segments[1].force

F_0 = [-tether_sam.sys_struct.points[i].force for i in 1:4]
@show norm.(F_0)
steps = 200
tether_lens = step(tether_sam, steps, F_step, F_0)
k_values, c_values = calc_spring_props(sam, tether_lens, F_step; prn)
Expand Down
4 changes: 4 additions & 0 deletions test/test_sam.jl
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Expand Up @@ -93,6 +93,10 @@ end
one_seg_tether_sam = SymbolicAWEModel(set, "tether")
init!(one_seg_tether_sam)

# run twice to make sure state is reset properly
axial_stiffness, axial_damping =
SymbolicAWEModels.calc_spring_props(one_seg_sam, one_seg_tether_sam)
next_step!(one_seg_sam; dt=1.0)
axial_stiffness, axial_damping =
SymbolicAWEModels.calc_spring_props(one_seg_sam, one_seg_tether_sam)
segments = one_seg_sam.sys_struct.segments
Expand Down
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