# $Header: /var/cvs/mbdyn/mbdyn/mbdyn-web/documentation/examples/rigidhelicopter,v 1.10 2011/10/13 12:51:56 masarati Exp $

begin: data;
	problem: initial value;
end: data;

begin: initial value;
	initial time: 0.;
	final time: 10.;
	time step: 1.e-3;
	method: ms, .6;

	max iterations: 10;
	tolerance: 1.e-6;
	newton raphson: modified, 4;

	derivatives coefficient: 1.e-6;
	derivatives max iterations: 10;
	derivatives tolerance: 1.e-6;
end: initial value;

begin: control data;
	structural nodes: 1 + 1 + 4;
	joints: 1 + 1 + 4 + 4 + 4 + 4;
	rigid bodies: 4;
	air properties;
	aerodynamic elements: 4;
	induced velocity elements: 1;
end: control data;

set: real CutOut = 1.;              # m
set: real Omega = 40.;              # rad/s
# set: real Omega0 = Omega;              # rad/s
set: real Omega0 = 0.;              # rad/s
set: real StartTime = 2.;           # s
set: real InitialDamp = 1.e4;       # Nm/rad/s
set: real Mblade = 30.;             # Kg
set: real Rblade = 5.5;             # m
set: real Cblade = .06*Rblade;	# m
set: real Theta0 = 9.;              # deg
set: real Thetaf = -8.;		# deg
set: real V0 = 70.;                 # m/s
set: real Damper = 1e4;		# Ns/m

reference: 1,
	reference, global, null,
	reference, global, eye,
	reference, global, null,
	reference, global, null;
reference: 2,
	reference, 1, null,
	reference, 1, eye,
	reference, 1, null,
	reference, 1, 0.,0.,Omega0;

reference: 11,
	reference, 2, null,
	reference, 2, 1, 1.,0.,0., 3, 0.,0.,1.,
	reference, 2, null,
	reference, 2, null;
reference: 21,
	reference, 11, CutOut,0.,0.,
	reference, 11, eye,
	reference, 11, null,
	reference, 11, null;

reference: 12,
	reference, 2, null,
	reference, 2, 1, 0.,-1.,0., 3, 0.,0.,1.,
	reference, 2, null,
	reference, 2, null;
reference: 22,
	reference, 12, CutOut,0.,0.,
	reference, 12, eye,
	reference, 12, null,
	reference, 12, null;

reference: 13,
	reference, 2, null,
	reference, 2, 1, -1.,0.,0., 3, 0.,0.,1.,
	reference, 2, null,
	reference, 2, null;
reference: 23,
	reference, 13, CutOut,0.,0.,
	reference, 13, eye,
	reference, 13, null,
	reference, 13, null;

reference: 14,
	reference, 2, null,
	reference, 2, 1, 0.,1.,0., 3, 0.,0.,1.,
	reference, 2, null,
	reference, 2, null;
reference: 24,
	reference, 14, CutOut,0.,0.,
	reference, 14, eye,
	reference, 14, null,
	reference, 14, null;

begin: nodes;
	# ground
	structural: 1, static,
		reference, 1, null,
		reference, 1, eye,
		reference, 1, null,
		reference, 1, null;
	# hub
	structural: 2, static,
		reference, 2, null,
		reference, 2, eye,
		reference, 2, null,
		reference, 2, null;

	# blades
	structural: 11, dynamic,
		reference, 11, Rblade,0.,0.,
		reference, 11, eye,
		reference, 11, null,
		reference, 11, null;
	structural: 12, dynamic,
		reference, 12, Rblade,0.,0.,
		reference, 12, eye,
		reference, 12, null,
		reference, 12, null;
	structural: 13, dynamic,
		reference, 13, Rblade,0.,0.,
		reference, 13, eye,
		reference, 13, null,
		reference, 13, null;
	structural: 14, dynamic,
		reference, 14, Rblade,0.,0.,
		reference, 14, eye,
		reference, 14, null,
		reference, 14, null;
end: nodes;

begin: elements;
	joint: 1, clamp, 1, node, node;
	joint: 2, axial rotation,
		1, reference, node, null,
			hinge, reference, node, 1, 1.,0.,0., 3, 0.,0.,1.,
		2, reference, node, null,
			hinge, reference, node, 1, 1.,0.,0., 3, 0.,0.,1.,
		cosine, 0., pi/StartTime, (Omega-Omega0)/2., half, Omega0;

	air properties: 1.225, 340.,
		1.,0.,0., cosine, 0., pi/StartTime, V0/2., half, 0.;
	induced velocity: 1, rotor, 1, 2, induced velocity,
		uniform, Omega, Rblade, delay, .99, correction, 1.2, 1.8;

	joint: 11, spherical hinge,
		2, reference, 21, null,
		11, reference, 21, null;
	joint: 21, distance with offset,
		2, reference, 21, 0.,CutOut,-CutOut,
		11, reference, 21, 0.,CutOut,0.,
		CutOut;
	joint: 41, rod with offset,
		2, reference, 21, .05*Rblade,CutOut,0.,
		11, reference, 21, .05*Rblade,0.,0.,
		CutOut,
		linear viscous, Damper*CutOut;
	driven: 31, string, "Time < (StartTime + 1.)",
	joint: 31, deformable hinge,
		2, hinge, reference, 21, eye,
		11, hinge, reference, 21, eye,
		linear viscous, InitialDamp;
	body: 11, 11,
		Mblade,
		reference, 21, (Rblade-CutOut)/2.,0.,0.,
		diag,
			1.,
			((Rblade-CutOut)^2)/12.*Mblade,
			((Rblade-CutOut)^2)/12.*Mblade;
	aerodynamic body: 11, 11, induced velocity, 1,
		reference, 21, (Rblade-CutOut)/2.,0.,0.,
		reference, 21, 1, 0.,1.,0., 2, 0.,0.,1.,
		Rblade-CutOut,
		const, Cblade,
		const, 0.,
		const, 0.,
		linear, Theta0*deg2rad, (Theta0+Thetaf)*deg2rad,
		4,
		naca0012;

	joint: 12, spherical hinge,
		2, reference, 22, null,
		12, reference, 22, null;
	joint: 22, distance with offset,
		2, reference, 22, 0.,CutOut,-CutOut,
		12, reference, 22, 0.,CutOut,0.,
		CutOut;
	joint: 42, rod with offset,
		2, reference, 22, .05*Rblade,CutOut,0.,
		12, reference, 22, .05*Rblade,0.,0.,
		CutOut,
		linear viscous, Damper*CutOut;
	driven: 32, string, "Time < (StartTime + 1.)",
	joint: 32, deformable hinge,
		2, hinge, reference, 22, eye,
		12, hinge, reference, 22, eye,
		linear viscous, InitialDamp;
	body: 12, 12,
		Mblade,
		reference, 22, (Rblade-CutOut)/2.,0.,0.,
		diag,
			1.,
			((Rblade-CutOut)^2)/12.*Mblade,
			((Rblade-CutOut)^2)/12.*Mblade;
	aerodynamic body: 12, 12, induced velocity, 1,
		reference, 22, (Rblade-CutOut)/2.,0.,0.,
		reference, 22, 1, 0.,1.,0., 2, 0.,0.,1.,
		Rblade-CutOut,
		const, Cblade,
		const, 0.,
		const, 0.,
		linear, Theta0*deg2rad, (Theta0+Thetaf)*deg2rad,
		4,
		naca0012;

	joint: 13, spherical hinge,
		2, reference, 23, null,
		13, reference, 23, null;
	joint: 23, distance with offset,
		2, reference, 23, 0.,CutOut,-CutOut,
		13, reference, 23, 0.,CutOut,0.,
		CutOut;
	joint: 43, rod with offset,
		2, reference, 23, .05*Rblade,CutOut,0.,
		13, reference, 23, .05*Rblade,0.,0.,
		CutOut,
		linear viscous, Damper*CutOut;
	driven: 33, string, "Time < (StartTime + 1.)",
	joint: 33, deformable hinge,
		2, hinge, reference, 23, eye,
		13, hinge, reference, 23, eye,
		linear viscous, InitialDamp;
	body: 13, 13,
		Mblade,
		reference, 23, (Rblade-CutOut)/2.,0.,0.,
		diag,
			1.,
			((Rblade-CutOut)^2)/12.*Mblade,
			((Rblade-CutOut)^2)/12.*Mblade;
	aerodynamic body: 13, 13, induced velocity, 1,
		reference, 23, (Rblade-CutOut)/2.,0.,0.,
		reference, 23, 1, 0.,1.,0., 2, 0.,0.,1.,
		Rblade-CutOut,
		const, Cblade,
		const, 0.,
		const, 0.,
		linear, Theta0*deg2rad, (Theta0+Thetaf)*deg2rad,
		4,
		naca0012;

	joint: 14, spherical hinge,
		2, reference, 24, null,
		14, reference, 24, null;
	joint: 24, distance with offset,
		2, reference, 24, 0.,CutOut,-CutOut,
		14, reference, 24, 0.,CutOut,0.,
		CutOut;
	joint: 44, rod with offset,
		2, reference, 24, .05*Rblade,CutOut,0.,
		14, reference, 24, .05*Rblade,0.,0.,
		CutOut,
		linear viscous, Damper*CutOut;
	driven: 34, string, "Time < (StartTime + 1.)",
	joint: 34, deformable hinge,
		2, hinge, reference, 24, eye,
		14, hinge, reference, 24, eye,
		linear viscous, InitialDamp;
	body: 14, 14,
		Mblade,
		reference, 24, (Rblade-CutOut)/2.,0.,0.,
		diag,
			1.,
			((Rblade-CutOut)^2)/12.*Mblade,
			((Rblade-CutOut)^2)/12.*Mblade;
	aerodynamic body: 14, 14, induced velocity, 1,
		reference, 24, (Rblade-CutOut)/2.,0.,0.,
		reference, 24, 1, 0.,1.,0., 2, 0.,0.,1.,
		Rblade-CutOut,
		const, Cblade,
		const, 0.,
		const, 0.,
		linear, Theta0*deg2rad, (Theta0+Thetaf)*deg2rad,
		4,
		naca0012;
end: elements;

# vim:ft=mbd