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tut_tailsitter.py
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tut_tailsitter.py
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# QS_tutorial.py
#
# Created: Feb 2022, E. Botero
# Modified:
#----------------------------------------------------------------------
# Imports
# ----------------------------------------------------------------------
import SUAVE
assert SUAVE.__version__=='2.5.2', 'These tutorials only work with the SUAVE 2.5.2 release'
from SUAVE.Core import Units
import pylab as plt
from copy import deepcopy
import os
from SUAVE.Plots.Performance.Mission_Plots import *
from SUAVE.Methods.Propulsion import propeller_design
from SUAVE.Methods.Power.Battery.Sizing import initialize_from_mass
from SUAVE.Methods.Propulsion.electric_motor_sizing import size_from_kv
from SUAVE.Methods.Geometry.Two_Dimensional.Cross_Section.Airfoil.compute_airfoil_polars import compute_airfoil_polars
# ----------------------------------------------------------------------
# Main
# ----------------------------------------------------------------------
def main():
# build the vehicle, configs, and analyses
configs, analyses = full_setup()
configs.finalize()
analyses.finalize()
# mission analysis
mission = analyses.missions.base
results = mission.evaluate()
# plot results
plot_mission(results)
return
# ----------------------------------------------------------------------
# Analysis Setup
# ----------------------------------------------------------------------
def full_setup():
# vehicle data
vehicle = vehicle_setup()
configs = configs_setup(vehicle)
# vehicle analyses
configs_analyses = analyses_setup(configs)
# mission analyses
mission = mission_setup(configs_analyses,vehicle)
missions_analyses = missions_setup(mission)
analyses = SUAVE.Analyses.Analysis.Container()
analyses.configs = configs_analyses
analyses.missions = missions_analyses
return configs, analyses
# ----------------------------------------------------------------------
# Build the Vehicle
# ----------------------------------------------------------------------
def vehicle_setup():
# ------------------------------------------------------------------
# Initialize the Vehicle
# ------------------------------------------------------------------
vehicle = SUAVE.Vehicle()
vehicle.tag = 'tail_sitter'
# ------------------------------------------------------------------
# Vehicle-level Properties
# ------------------------------------------------------------------
# mass properties
vehicle.mass_properties.takeoff = 0.82 * Units.kg
vehicle.mass_properties.operating_empty = 0.82 * Units.kg
vehicle.mass_properties.max_takeoff = 0.82 * Units.kg
# basic parameters
vehicle.reference_area = 0.1668
# ------------------------------------------------------------------
# Main Wing
# ------------------------------------------------------------------
wing = SUAVE.Components.Wings.Main_Wing()
wing.tag = 'main_wing'
wing.areas.reference = vehicle.reference_area
wing.spans.projected = 1.03 * Units.m
wing.aspect_ratio = (wing.spans.projected**2)/wing.areas.reference
wing.sweeps.quarter_chord = 5.0 * Units.deg
wing.thickness_to_chord = 0.12
wing.taper = 1.0
wing.dynamic_pressure_ratio = 1.0
wing.chords.mean_aerodynamic = 0.162 * Units.m
wing.twists.root = 0.0 * Units.degrees
wing.twists.tip = 0.0 * Units.degrees
wing.high_lift = False
wing.vertical = False
wing.symmetric = True
# add to vehicle
vehicle.append_component(wing)
#------------------------------------------------------------------
# Propulsor
#------------------------------------------------------------------
# build network
net = SUAVE.Components.Energy.Networks.Battery_Propeller()
net.number_of_propeller_engines = 4.
net.voltage = 12.3
net.identical_propellers = True
# Component 1 the ESC
esc = SUAVE.Components.Energy.Distributors.Electronic_Speed_Controller()
esc.efficiency = 0.95 # Gundlach for brushless motors
net.esc = esc
# Component 2 the Propeller
# Design the Propeller
prop = SUAVE.Components.Energy.Converters.Propeller()
prop.number_of_blades = 2.0
prop.freestream_velocity = 15.0 # freestream m/s
prop.angular_velocity = 7500. * Units['rpm']
prop.tip_radius = 4. * Units.inch
prop.hub_radius = 0.125 * Units.inch
prop.design_Cl = 0.7
prop.design_altitude = 0.1 * Units.km
prop.design_power = 200. * Units.watts
prop = propeller_design(prop)
origins = [[0., 0.15, -0.05], [0., -0.15, -0.05], [0., .35, 0.05], [0., 0.35, 0.05]]
for ii in range(4):
rotor = deepcopy(prop)
rotor.tag = 'propeller'
rotor.origin = [origins[ii]]
net.propellers.append(rotor)
# Component 3 the Motor
motor = SUAVE.Components.Energy.Converters.Motor()
motor.speed_constant = 1500. * Units['rpm'] # RPM/volt converted to (rad/s)/volt
motor = size_from_kv(motor)
motor.gear_ratio = 1. # Gear ratio
motor.gearbox_efficiency = 1. # Gear box efficiency
motor.expected_current = 10. # Expected current
motor.propeller_radius = prop.tip_radius
for ii in range(4):
rotor_motor = deepcopy(motor)
rotor_motor.tag = 'motor'
rotor_motor.origin = [origins[ii]]
net.propeller_motors.append(rotor_motor)
# Component 4 the Payload
payload = SUAVE.Components.Energy.Peripherals.Payload()
payload.power_draw = 0. #Watts
payload.mass_properties.mass = 0.0 * Units.kg
net.payload = payload
# Component 5 the Avionics
avionics = SUAVE.Components.Energy.Peripherals.Avionics()
avionics.power_draw = 2. #Watts
net.avionics = avionics
# Component 6 the Battery
bat = SUAVE.Components.Energy.Storages.Batteries.Constant_Mass.Lithium_Ion()
bat.mass_properties.mass = 0.17 * Units.kg
bat.specific_energy = 175.*Units.Wh/Units.kg
bat.resistance = 0.003
bat.max_voltage = 11.1
initialize_from_mass(bat)
net.battery = bat
# add the solar network to the vehicle
vehicle.append_component(net)
return vehicle
# ----------------------------------------------------------------------
# Define the Configurations
# ---------------------------------------------------------------------
def configs_setup(vehicle):
# ------------------------------------------------------------------
# Initialize Configurations
# ------------------------------------------------------------------
configs = SUAVE.Components.Configs.Config.Container()
base_config = SUAVE.Components.Configs.Config(vehicle)
base_config.tag = 'base'
configs.append(base_config)
return configs
# ----------------------------------------------------------------------
# Define the Vehicle Analyses
# ----------------------------------------------------------------------
def analyses_setup(configs):
analyses = SUAVE.Analyses.Analysis.Container()
# build a base analysis for each config
for tag,config in configs.items():
analysis = base_analysis(config)
analyses[tag] = analysis
return analyses
def base_analysis(vehicle):
# ------------------------------------------------------------------
# Initialize the Analyses
# ------------------------------------------------------------------
analyses = SUAVE.Analyses.Vehicle()
# ------------------------------------------------------------------
# Basic Geometry Relations
sizing = SUAVE.Analyses.Sizing.Sizing()
sizing.features.vehicle = vehicle
analyses.append(sizing)
# ------------------------------------------------------------------
# Weights
weights = SUAVE.Analyses.Weights.Weights()
weights.settings.empty_weight_method = \
SUAVE.Methods.Weights.Correlations.UAV.empty
weights.vehicle = vehicle
analyses.append(weights)
# ------------------------------------------------------------------
# Aerodynamics Analysis
aerodynamics = SUAVE.Analyses.Aerodynamics.AERODAS()
aerodynamics.geometry = vehicle
aerodynamics.settings.drag_coefficient_increment = 0.0000
aerodynamics.settings.maximum_lift_coefficient = 1.5
analyses.append(aerodynamics)
# ------------------------------------------------------------------
# Energy
energy = SUAVE.Analyses.Energy.Energy()
energy.network = vehicle.networks
analyses.append(energy)
# ------------------------------------------------------------------
# Planet Analysis
planet = SUAVE.Analyses.Planets.Planet()
analyses.append(planet)
# ------------------------------------------------------------------
# Atmosphere Analysis
atmosphere = SUAVE.Analyses.Atmospheric.US_Standard_1976()
atmosphere.features.planet = planet.features
analyses.append(atmosphere)
# done!
return analyses
# ----------------------------------------------------------------------
# Define the Mission
# ----------------------------------------------------------------------
def mission_setup(analyses,vehicle):
# ------------------------------------------------------------------
# Initialize the Mission
# ------------------------------------------------------------------
mission = SUAVE.Analyses.Mission.Sequential_Segments()
mission.tag = 'The Test Mission'
mission.atmosphere = SUAVE.Attributes.Atmospheres.Earth.US_Standard_1976()
mission.planet = SUAVE.Attributes.Planets.Earth()
# unpack Segments module
Segments = SUAVE.Analyses.Mission.Segments
# base segment
base_segment = Segments.Segment()
base_segment.process.initialize.initialize_battery = SUAVE.Methods.Missions.Segments.Common.Energy.initialize_battery
base_segment.process.iterate.conditions.planet_position = SUAVE.Methods.skip
base_segment.state.numerics.number_control_points = 3
#------------------------------------------------------------------
# Climb Hover
#------------------------------------------------------------------
segment = SUAVE.Analyses.Mission.Segments.Climb.Constant_Speed_Constant_Rate(base_segment)
segment.tag = "Climb"
# connect vehicle configuration
segment.analyses.extend(analyses.base)
# segment attributes
ones_row = segment.state.ones_row
segment.battery_energy = vehicle.networks.battery_propeller.battery.max_energy
segment.altitude_start = 0.
segment.altitude_end = 100. * Units.m
segment.climb_rate = 3. * Units.m / Units.s
segment.air_speed = 3. * Units.m / Units.s
segment.state.unknowns.body_angle = ones_row(1) * 90. *Units.deg
segment = vehicle.networks.battery_propeller.add_unknowns_and_residuals_to_segment(segment,\
initial_power_coefficient = 0.1)
mission.append_segment(segment)
# ------------------------------------------------------------------
# Hover
# ------------------------------------------------------------------
segment = SUAVE.Analyses.Mission.Segments.Hover.Hover(base_segment)
segment.tag = "Hover_1"
# connect vehicle configuration
segment.analyses.extend(analyses.base)
# segment attributes
segment.time = 60* Units.seconds
segment.state.conditions.frames.body.inertial_rotations[:,1] = ones_row(1) * 90.*Units.deg
segment = vehicle.networks.battery_propeller.add_unknowns_and_residuals_to_segment(segment,\
initial_power_coefficient = 0.07)
mission.append_segment(segment)
# ------------------------------------------------------------------
# Hover Transition
# ------------------------------------------------------------------
segment = SUAVE.Analyses.Mission.Segments.Cruise.Constant_Acceleration_Constant_Altitude(base_segment)
segment.tag = "Transition_to_Cruise"
# connect vehicle configuration
segment.analyses.extend(analyses.base)
# segment attributes
segment.acceleration = 1.5 * Units['m/s/s']
segment.air_speed_initial = 0.0
segment.air_speed_final = 15.0
segment.altitude = 100. * Units.m
segment = vehicle.networks.battery_propeller.add_unknowns_and_residuals_to_segment(segment,\
initial_power_coefficient = 0.07)
mission.append_segment(segment)
# ------------------------------------------------------------------
# Cruise
# ------------------------------------------------------------------
segment = SUAVE.Analyses.Mission.Segments.Cruise.Constant_Speed_Constant_Altitude(base_segment)
segment.tag = "Cruise"
# connect vehicle configuration
segment.analyses.extend(analyses.base)
# segment attributes
segment.distance = 3. * Units.km
segment.air_speed = 15. * Units.m/Units.s
segment.altitude = 100. * Units.m
segment = vehicle.networks.battery_propeller.add_unknowns_and_residuals_to_segment(segment,\
initial_power_coefficient = 0.04)
mission.append_segment(segment)
# ------------------------------------------------------------------
# Hover Transition
# ------------------------------------------------------------------
segment = SUAVE.Analyses.Mission.Segments.Cruise.Constant_Acceleration_Constant_Altitude(base_segment)
segment.tag = "Transition_to_hover"
# connect vehicle configuration
segment.analyses.extend(analyses.base)
# segment attributes
segment.acceleration = -0.5 * Units['m/s/s']
segment.air_speed_initial = 15.0
segment.air_speed_final = 0.0
segment.altitude = 100. * Units.m
segment = vehicle.networks.battery_propeller.add_unknowns_and_residuals_to_segment(segment,\
initial_power_coefficient = 0.07)
mission.append_segment(segment)
# ------------------------------------------------------------------
# Hover
# ------------------------------------------------------------------
segment = SUAVE.Analyses.Mission.Segments.Hover.Hover(base_segment)
segment.tag = "Hover_2"
# connect vehicle configuration
segment.analyses.extend(analyses.base)
# segment attributes
segment.time = 60* Units.seconds
segment.state.conditions.frames.body.inertial_rotations[:,1] = ones_row(1)* 90.*Units.deg
segment = vehicle.networks.battery_propeller.add_unknowns_and_residuals_to_segment(segment,\
initial_power_coefficient = 0.07)
mission.append_segment(segment)
# ------------------------------------------------------------------
# Descent Hover
# ------------------------------------------------------------------
segment = SUAVE.Analyses.Mission.Segments.Hover.Descent(base_segment)
segment.tag = "Descent"
# connect vehicle configuration
segment.analyses.extend(analyses.base)
# segment attributes
segment.altitude_end = 0. * Units.m
segment.descent_rate = 3. * Units.m / Units.s
segment.state.conditions.frames.body.inertial_rotations[:,1] = ones_row(1)* 90.*Units.deg
segment = vehicle.networks.battery_propeller.add_unknowns_and_residuals_to_segment(segment,\
initial_power_coefficient = 0.06)
mission.append_segment(segment)
#------------------------------------------------------------------
# Mission definition complete
#-------------------------------------------------------------------
return mission
def missions_setup(base_mission):
# the mission container
missions = SUAVE.Analyses.Mission.Mission.Container()
# ------------------------------------------------------------------
# Base Mission
# ------------------------------------------------------------------
missions.base = base_mission
# done!
return missions
# ----------------------------------------------------------------------
# Plot Results
# ----------------------------------------------------------------------
def plot_mission(results):
# Plot Flight Conditions
plot_flight_conditions(results)
# Plot Aerodynamic Coefficients
plot_aerodynamic_coefficients(results)
# Plot Aircraft Flight Speed
plot_aircraft_velocities(results)
# Plot Aircraft Electronics
plot_battery_pack_conditions(results)
# Plot Propeller Conditions
plot_propeller_conditions(results)
# Plot Electric Motor and Propeller Efficiencies
plot_eMotor_Prop_efficiencies(results)
# Plot propeller Disc and Power Loading
plot_disc_power_loading(results)
return
if __name__ == '__main__':
main()
plt.show()