# $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