Tutorial for closed-Loop Simulation with SHARPy as a hardware-in-the-loop system #240
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- add cs type to allow deflection control via external controller - use different flap ids for right and left wing, because in the linear model they deflect in different directions - add hinge coord to avoid failure in linearization
- add input settings for number of control surfaces instead of getting number from number of inputted intital deflection values
- causes problem with iostream of jupyter notebook
- export simulink model to be accesible from older matlab versions too (2021a)
- also includes minor documentation adjustments
- causes error in unittest in pazy tests due to renaming and type change
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- enables the matlab script execution without the need to have a Matlab desktop version (e.g. virtual machines)
…ng code In a previous commit, the input type of the initial cs deflection (from float back to list of floats/ints) has been changed to avoid unittest issues and the updated type makes more sense. The code for closed loop simulation has to be adjusted now as well (instead of list, only give one number to the cilent) as control surfaces are symmetric. Further, float type initial value is enforced in client script, to avoid type errors when creating binary control input message containing control surface deflections.
…ng code In a previous commit, the input type of the initial cs deflection (from float back to list of floats/ints) has been changed to avoid unittest issues and the updated type makes more sense. The code for closed loop simulation has to be adjusted now as well (instead of list, only give one number to the cilent) as control surfaces are symmetric. Further, float type initial value is enforced in client script, to avoid type errors when creating binary control input message containing control surface deflections. This commit also includes the removal of code giving instructions of executing the matlab script from Matlab's Desktop version. Only, Matlab's engine API for Python is recommended here as it can be run within the same document.
rafapalacios
approved these changes
Jun 30, 2023
- convert normalized open-loop tip deflection to percent and not in plotting funcition because it is reused later - update fixed result graphs
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Hey team,
I have created a tutorial to familiarize users with the UDP capabilities of SHARPy, in particular the application of an external controller to a dynamic nonlinear aeroelastic simulation. As a simple example, the gust-induced wingtip deflection of the Pazy wing is reduced by an aileron deflection controlled by an external P controller. For the design of the controller, the tutorial also covers the generation of a linear reduced order model (ROM) for a given SHARPy model and an example of the next steps necessary to use this ROM for linear open-loop and closed-loop simulations on common platforms such as Matlab/SIMULINK.
Changes made are mostly adding the Jupyter notebook and other files needed for the tutorial. The documentation has been updated to include the download links of this example and for the tutorial to show up in the menu bar. Minor adaptations have been made in the template for flying wing models to specify the aileron type (necessary for closed-loop simulation) and initial aileron deflections, as well as using different indices for symmetric ailerons due to issue #193.
Looking forward to your feedback!
Best,
Steffi