diff --git a/contributing/contributing.html b/contributing/contributing.html index aafb13984..ba24616cc 100644 --- a/contributing/contributing.html +++ b/contributing/contributing.html @@ -1055,21 +1055,21 @@

Notebook Creation#

Both sets of equations of motion have common aerodynamic models.

First, the lift coefficient is computed using a model which assumes linearity in lift wrt the angle of attack.

-
-(21)#\[\begin{align} +
+(21)#\[\begin{align} C_L &= C_{L0} + \frac{\alpha}{\alpha_{max}} \left(C_{L-max} - C_{L0}\right) \end{align}\]

Next, the drag-due-to-lift factor is computed (Equations 12.48 and 12.61 in Raymer[@raymer2012aircraft]).

-
-(22)#\[\begin{align} +
+(22)#\[\begin{align} K_{nom} &= \frac{1}{ \pi AR e} \\ b &= \frac{span}{2} \\ K &= 33 K_{nom} \frac{ \left(\frac{h + h_w}{b} \right) ^{\frac{3}{2}}}{1.0 + 33 \left( \frac{h + h_w}{b}\right) ^{\frac{3}{2}}} @@ -956,8 +956,8 @@

The Aerodynamic Model

Finally, the lift and drag are computed after computing the dynamic pressure.

-
-(23)#\[\begin{align} +
+(23)#\[\begin{align} q &= 0.5 \rho v^2 \\ L &= q S C_L \\ D &= q S \left( C_{D0} + K C_{L}^2 \right) @@ -968,8 +968,8 @@

Stall Speed\(\frac{v}{v_{stall}}\)). This constraint is used to trigger the beginning of rotation and is used as a boundary constraint at the end of the initial climb. Stall speed is given by Equation 5.6 in Raymer[@raymer2012aircraft].

-
-(24)#\[\begin{align} +
+(24)#\[\begin{align} W &= m g \\ v_{stall} &= \sqrt{\frac{2 * W}{\rho S C_{L-max}}} \end{align}\]
@@ -977,8 +977,8 @@

Stall Speed

Runway Equations of Motion#

The runway equations of motion are used to integrate range and speed as the vehicle rolls along the runway.

-
-(25)#\[\begin{align} +
+(25)#\[\begin{align} F_r &= mg - L \cos \alpha - T \sin \alpha \\ \dot{v} &= \frac{T \cos \alpha - D - F_r \mu_r}{m} \\ \dot{r} &= v @@ -1005,8 +1005,8 @@

Runway Equations of Motion

Flight Equations of Motion#

The flight equations of motion include two additional state variables: the flight-path angle (\(\gamma\)) and altitude (\(h\)).

-
-(26)#\[\begin{align} +
+(26)#\[\begin{align} \dot{v} &= \frac{T}{m} \cos \alpha - \frac{D}{m} - g \sin \gamma \\ \dot{\gamma} &= \frac{T}{m v} \sin \alpha + \frac{L}{m v} - \frac{g \cos \gamma}{v} \\ \dot{h} &= v \sin \gamma \\ @@ -1531,7 +1531,7 @@

Building and running the problem -
<dymos.phase.phase.Phase at 0x7fae10155190>
+
<dymos.phase.phase.Phase at 0x7ff84ac73ed0>
@@ -1686,9 +1686,6 @@

Building and running the problem
INFO: checking missing_recorders

-
WARNING: The Problem has no recorder of any kind attached
-
-
INFO: checking unserializable_options
@@ -1714,9 +1711,6 @@

Building and running the problem
INFO: checking missing_recorders

-
WARNING: The Problem has no recorder of any kind attached
-
-
INFO: checking unserializable_options
@@ -1733,9 +1727,9 @@

Building and running the problem
Full total jacobian for problem 'problem' was computed 3 times, taking 1.006189039999981 seconds.
+
Full total jacobian for problem 'problem' was computed 3 times, taking 0.9899345740000172 seconds.
 Total jacobian shape: (178, 166) 
 
 
@@ -1791,17 +1785,17 @@ 
Building and running the problem
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/total_jac.py:1652: DerivativesWarning:Constraints or objectives [('traj.phases.climb->path_constraint->gam', inds=[(0, 0)])] cannot be impacted by the design variables of the problem.
 

 

-
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1130: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:alpha_rate, ode_eval.control_interp.control_rates:alpha_rate2, ode_eval.control_interp.control_values:alpha] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
-/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1130: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:alpha_rate, ode_eval.control_interp.control_rates:alpha_rate2, ode_eval.control_interp.control_values:alpha] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
+
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1137: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:alpha_rate, ode_eval.control_interp.control_rates:alpha_rate2, ode_eval.control_interp.control_values:alpha] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
+/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1137: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:alpha_rate, ode_eval.control_interp.control_rates:alpha_rate2, ode_eval.control_interp.control_values:alpha] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
 

 

 
Simulating trajectory traj
@@ -1815,11 +1809,11 @@ 
Building and running the problem
INFO: checking missing_recorders
 

 

-
WARNING: The Problem has no recorder of any kind attached
-

-

 
INFO: checking unserializable_options
 

 

@@ -1236,9 +1233,6 @@ 
Building and running the problem
INFO: checking missing_recorders
 

 

-
WARNING: The Problem has no recorder of any kind attached
-

-

 
INFO: checking unserializable_options
 

 

@@ -1258,9 +1252,9 @@ 
Building and running the problem
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/system.py:1701: DerivativesWarning:'traj.phases.rto.rhs_all' <class ExplicitFuncComp>: No partials found but coloring was requested.  Declaring ALL partials as dense (method='jax')
@@ -1273,9 +1267,9 @@ 
Building and running the problem
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/system.py:1701: DerivativesWarning:'traj.phases.v1_to_vr.rhs_all' <class ExplicitFuncComp>: No partials found but coloring was requested.  Declaring ALL partials as dense (method='jax')
@@ -1288,8 +1282,8 @@ 
Building and running the problem
Full total jacobian for problem 'problem' was computed 3 times, taking 3.283131960999981 seconds.
+
Full total jacobian for problem 'problem' was computed 3 times, taking 3.296542742999975 seconds.
 Total jacobian shape: (178, 166) 
 
 
@@ -1332,17 +1326,17 @@ 
Building and running the problem
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/total_jac.py:1652: DerivativesWarning:Constraints or objectives [('traj.phases.climb->path_constraint->gam', inds=[(0, 0)])] cannot be impacted by the design variables of the problem.
 

 

-
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1130: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:alpha_rate, ode_eval.control_interp.control_rates:alpha_rate2, ode_eval.control_interp.control_values:alpha] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
-/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1130: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:alpha_rate, ode_eval.control_interp.control_rates:alpha_rate2, ode_eval.control_interp.control_values:alpha] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
+
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1137: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:alpha_rate, ode_eval.control_interp.control_rates:alpha_rate2, ode_eval.control_interp.control_values:alpha] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
+/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1137: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:alpha_rate, ode_eval.control_interp.control_rates:alpha_rate2, ode_eval.control_interp.control_values:alpha] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
 /usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/recorders/sqlite_recorder.py:231: UserWarning:The existing case recorder file, /home/runner/work/dymos/dymos/docs/dymos_book/examples/balanced_field/problem_out/traj_simulation_0_out/dymos_simulation.db, is being overwritten.
 

 

diff --git a/examples/brachistochrone/brachistochrone.html b/examples/brachistochrone/brachistochrone.html
index 459269d17..95f811e60 100644
--- a/examples/brachistochrone/brachistochrone.html
+++ b/examples/brachistochrone/brachistochrone.html
@@ -866,8 +866,8 @@ 
State variables
 
System dynamics#

 
From the free-body diagram above, the evolution of the state variables is given by the following ordinary differential equations (ODE).

-

-(13)#\[\begin{align}
+

+(13)#\[\begin{align}
     \frac{d x}{d t} &= v \sin(\theta) \\
     \frac{d y}{d t} &= -v \cos(\theta) \\
     \frac{d v}{d t} &= g \cos(\theta)
@@ -885,8 +885,8 @@ 
The initial and final conditions
-(14)#\[\begin{align}
+

+(14)#\[\begin{align}
     x_0 &= 0 \\
     y_0 &= 10 \\
     v_0 &= 0
@@ -894,8 +894,8 @@ 
The initial and final conditions
-(15)#\[\begin{align}
+

+(15)#\[\begin{align}
     x_f &= 10 \\
     y_f &= 5 \\
     v_f &= \mathrm{free}
@@ -1061,27 +1061,27 @@ 
Testing the ODE
Full total jacobian for problem 'problem2' was computed 3 times, taking 0.02229749800000036 seconds.
+
Full total jacobian for problem 'problem2' was computed 3 times, taking 0.02626929999996719 seconds.
 Total jacobian shape: (40, 50) 
 
 
@@ -1188,10 +1188,10 @@ 
Solving the problem with Legendre-Gauss-Lobatto collocation in Dymos

 

 
Optimization terminated successfully    (Exit mode 0)
@@ -1228,7 +1228,7 @@ 
Solving the problem with Legendre-Gauss-Lobatto collocation in Dymos
Simulating trajectory traj
 

 

-
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1130: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:theta_rate, ode_eval.control_interp.control_rates:theta_rate2, ode_eval.control_interp.control_values:theta] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
+
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1137: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:theta_rate, ode_eval.control_interp.control_rates:theta_rate2, ode_eval.control_interp.control_values:theta] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).
 

 

 
Done simulating trajectory traj
@@ -1340,7 +1340,7 @@ 
Solving the problem with Legendre-Gauss-Lobatto collocation in Dymos
Model viewer data has already been recorded for Driver.
 

 

-
Full total jacobian for problem 'problem5' was computed 3 times, taking 0.01435492199999544 seconds.
+
Full total jacobian for problem 'problem5' was computed 3 times, taking 0.014090930999998363 seconds.
 Total jacobian shape: (12, 51) 
 
 No coloring was computed successfully.
diff --git a/examples/brachistochrone/brachistochrone_tandem_phases.html b/examples/brachistochrone/brachistochrone_tandem_phases.html
index fd6431355..ce3826d39 100644
--- a/examples/brachistochrone/brachistochrone_tandem_phases.html
+++ b/examples/brachistochrone/brachistochrone_tandem_phases.html
@@ -994,7 +994,7 @@ 
Setup and run
Model viewer data has already been recorded for Driver.
 

 

-
Full total jacobian for problem 'problem' was computed 3 times, taking 0.16219527099997322 seconds.
+
Full total jacobian for problem 'problem' was computed 3 times, taking 0.1645306210000399 seconds.
 Total jacobian shape: (223, 287) 
 

 

@@ -1003,10 +1003,10 @@ 
Setup and run
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/visualization/opt_report/opt_report.py:625: UserWarning: Attempting to set identical low and high ylims makes transformation singular; automatically expanding.
@@ -1846,10 +1846,10 @@ 
Plots#
     
   
   
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