rotor velocity wrt zb
@@ -1052,8 +1052,6 @@ class hinge_node_FoR_constant_vel(BaseLagrangeConstraint):
raise NotImplementedError("Hinges should be parallel to the xB, yB or zB of the reference node")
self.set_rot_vel(MBdict_entry['rot_vect'][self.nonzero_comp])
- self.pitch_vel = set_value_or_default(MBdict_entry, "pitch_vel", 0.)
-
# self.static_constraint = fully_constrained_node_FoR()
# self.static_constraint.initialise(MBdict_entry, ieq)
@@ -1064,10 +1062,6 @@ class hinge_node_FoR_constant_vel(BaseLagrangeConstraint):
self.rot_vel = rot_vel
- def set_pitch_vel(self, pitch_vel):
- self.pitch_vel = pitch_vel
-
-
def staticmat(self, LM_C, LM_K, LM_Q, MB_beam, MB_tstep, ts, num_LM_eq,
sys_size, dt, Lambda, Lambda_dot):
return
@@ -1187,9 +1181,9 @@ class hinge_node_FoR_pitch(BaseLagrangeConstraint):
cab = ag.crv2rotation(MB_tstep[self.node_body].psi[ielem, inode_in_elem, :])
FoR_cga = MB_tstep[self.FoR_body].cga()
- rel_vel = np.array([0., 0., self.rotor_vel])
- rel_vel += ag.multiply_matrices(cab.T, node_cga.T, FoR_cga,
- np.array([self.pitch_vel, 0., 0.]))
+ rel_vel = np.array([self.pitch_vel, 0., 0.])
+ rel_vel += ag.multiply_matrices(FoR_cga.T, node_cga, cab,
+ np.array([0., 0., self.rotor_vel]))
# Define the equations
ieq = equal_lin_vel_node_FoR(MB_tstep, MB_beam, self.FoR_body, self.node_body, self.node_number, node_FoR_dof, node_dof, FoR_dof, sys_size, Lambda_dot, self.scalingFactor, self.penaltyFactor, ieq, LM_K, LM_C, LM_Q, rel_posB=self.rel_posB)
