# $Header: /var/cvs/mbdyn/mbdyn/mbdyn-web/documentation/examples/rigidhelicopter2,v 1.2 2011/10/13 12:56:20 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 + 2 + 4;
	joints: 1 + 1 + 3 + 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;
	# fixed plate
	structural: 3, static,
		reference, 2, null,
		reference, 2, eye,
		reference, 2, null,
		reference, 2, null;
	# rotating plate
	structural: 4, 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;
	# ground
	joint: 1, clamp, 1, node, node;
	# hub
	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;

	# relative (prescribed) motion between ground and fixed plate
	joint: 3, total joint,
		1,
			position, reference, node, null,
			position orientation, reference, node, eye,
			rotation orientation, reference, node, eye,
		3,
			position, reference, node, null,
			position orientation, reference, node, eye,
			rotation orientation, reference, node, eye,
		position constraint, active, active, active,
			0., 0., 1.,
				# collective pitch
				const, 0.,
				# cosine, StartTime + 2, pi/1., 4*deg2rad/CutOut/2, half, 0.,
		orientation constraint, active, active, active,
			component,
				# lateral cyclic pitch
				const, 0.,
				# longitudinal cyclic pitch
				const, -0.,
				0.;

	# relative motion between hub and rotating plate
	joint: 4, total joint,
		2,
			position, reference, node, null,
			position orientation, reference, node, eye,
			rotation orientation, reference, node, eye,
		4,
			position, reference, node, null,
			position orientation, reference, node, eye,
			rotation orientation, reference, node, eye,
		# allow vertical displacement
		position constraint, inactive, inactive, inactive, null,
		# anti-torque
		orientation constraint, inactive, inactive, active, null;

	# relative rotation between fixed and rotating plates
	joint: 5, revolute hinge,
		3,
			position, reference, node, null,
			orientation, reference, node, eye,
		4,
			position, reference, node, null,
			orientation, reference, node, eye;

	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,
		4, 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,
		4, 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,
		4, 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,
		4, 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