git.gag.com Git - debian/openrocket/blob - core/src/net/sf/openrocket/motor/ThrustCurveMotor.java

   1 package net.sf.openrocket.motor;
   2
   3 import java.text.Collator;
   4 import java.util.Arrays;
   5 import java.util.Locale;
   6
   7 import net.sf.openrocket.logging.LogHelper;
   8 import net.sf.openrocket.models.atmosphere.AtmosphericConditions;
   9 import net.sf.openrocket.startup.Application;
  10 import net.sf.openrocket.util.ArrayUtils;
  11 import net.sf.openrocket.util.BugException;
  12 import net.sf.openrocket.util.Coordinate;
  13 import net.sf.openrocket.util.Inertia;
  14 import net.sf.openrocket.util.MathUtil;
  15
  16
  17 public class ThrustCurveMotor implements Motor, Comparable<ThrustCurveMotor> {
  18         private static final LogHelper log = Application.getLogger();
  19
  20         public static final double MAX_THRUST = 10e6;
  21
  22         //  Comparators:
  23         private static final Collator COLLATOR = Collator.getInstance(Locale.US);
  24         static {
  25                 COLLATOR.setStrength(Collator.PRIMARY);
  26         }
  27         private static final DesignationComparator DESIGNATION_COMPARATOR = new DesignationComparator();
  28
  29         private final String digest;
  30
  31         private final Manufacturer manufacturer;
  32         private final String designation;
  33         private final String description;
  34         private final Motor.Type type;
  35         private final double[] delays;
  36         private final double diameter;
  37         private final double length;
  38         private final double[] time;
  39         private final double[] thrust;
  40         private final Coordinate[] cg;
  41
  42         private double maxThrust;
  43         private double burnTime;
  44         private double averageThrust;
  45         private double totalImpulse;
  46
  47         /**
  48          * Deep copy constructor.
  49          * Constructs a new ThrustCurveMotor from an existing ThrustCurveMotor.
  50          * @param m
  51          */
  52         protected ThrustCurveMotor( ThrustCurveMotor m ) {
  53                 this.digest = m.digest;
  54                 this.manufacturer = m.manufacturer;
  55                 this.designation = m.designation;
  56                 this.description = m.description;
  57                 this.type = m.type;
  58                 this.delays = ArrayUtils.copyOf(m.delays, m.delays.length);
  59                 this.diameter = m.diameter;
  60                 this.length = m.length;
  61                 this.time = ArrayUtils.copyOf(m.time, m.time.length);
  62                 this.thrust = ArrayUtils.copyOf(m.thrust, m.thrust.length);
  63                 this.cg = new Coordinate[ m.cg.length ];
  64                 for( int i = 0; i< cg.length; i++ ) {
  65                         this.cg[i] = m.cg[i].clone();
  66                 }
  67                 this.maxThrust = m.maxThrust;
  68                 this.burnTime = m.burnTime;
  69                 this.averageThrust = m.averageThrust;
  70                 this.totalImpulse = m.totalImpulse;
  71         }
  72
  73         /**
  74          * Sole constructor.  Sets all the properties of the motor.
  75          *
  76          * @param manufacturer  the manufacturer of the motor.
  77          * @param designation   the designation of the motor.
  78          * @param description   extra description of the motor.
  79          * @param type                  the motor type
  80          * @param delays                the delays defined for this thrust curve
  81          * @param diameter      diameter of the motor.
  82          * @param length        length of the motor.
  83          * @param time          the time points for the thrust curve.
  84          * @param thrust        thrust at the time points.
  85          * @param cg            cg at the time points.
  86          */
  87         public ThrustCurveMotor(Manufacturer manufacturer, String designation, String description,
  88                         Motor.Type type, double[] delays, double diameter, double length,
  89                         double[] time, double[] thrust, Coordinate[] cg, String digest) {
  90                 this.digest = digest;
  91                 // Check argument validity
  92                 if ((time.length != thrust.length) || (time.length != cg.length)) {
  93                         throw new IllegalArgumentException("Array lengths do not match, " +
  94                                         "time:" + time.length + " thrust:" + thrust.length +
  95                                         " cg:" + cg.length);
  96                 }
  97                 if (time.length < 2) {
  98                         throw new IllegalArgumentException("Too short thrust-curve, length=" +
  99                                         time.length);
 100                 }
 101                 for (int i = 0; i < time.length - 1; i++) {
 102                         if (time[i + 1] < time[i]) {
 103                                 throw new IllegalArgumentException("Time goes backwards, " +
 104                                                 "time[" + i + "]=" + time[i] + " " +
 105                                                 "time[" + (i + 1) + "]=" + time[i + 1]);
 106                         }
 107                 }
 108                 if (!MathUtil.equals(time[0], 0)) {
 109                         throw new IllegalArgumentException("Curve starts at time " + time[0]);
 110                 }
 111                 if (!MathUtil.equals(thrust[0], 0)) {
 112                         throw new IllegalArgumentException("Curve starts at thrust " + thrust[0]);
 113                 }
 114                 if (!MathUtil.equals(thrust[thrust.length - 1], 0)) {
 115                         throw new IllegalArgumentException("Curve ends at thrust " +
 116                                         thrust[thrust.length - 1]);
 117                 }
 118                 for (double t : thrust) {
 119                         if (t < 0) {
 120                                 throw new IllegalArgumentException("Negative thrust.");
 121                         }
 122                         if (t > MAX_THRUST || Double.isNaN(t)) {
 123                                 throw new IllegalArgumentException("Invalid thrust " + t);
 124                         }
 125                 }
 126                 for (Coordinate c : cg) {
 127                         if (c.isNaN()) {
 128                                 throw new IllegalArgumentException("Invalid CG " + c);
 129                         }
 130                         if (c.x < 0 || c.x > length) {
 131                                 throw new IllegalArgumentException("Invalid CG position " + c.x);
 132                         }
 133                         if (c.weight < 0) {
 134                                 throw new IllegalArgumentException("Negative mass " + c.weight);
 135                         }
 136                 }
 137
 138                 if (type != Motor.Type.SINGLE && type != Motor.Type.RELOAD &&
 139                                 type != Motor.Type.HYBRID && type != Motor.Type.UNKNOWN) {
 140                         throw new IllegalArgumentException("Illegal motor type=" + type);
 141                 }
 142
 143
 144                 this.manufacturer = manufacturer;
 145                 this.designation = designation;
 146                 this.description = description;
 147                 this.type = type;
 148                 this.delays = delays.clone();
 149                 this.diameter = diameter;
 150                 this.length = length;
 151                 this.time = time.clone();
 152                 this.thrust = thrust.clone();
 153                 this.cg = cg.clone();
 154
 155                 computeStatistics();
 156         }
 157
 158
 159
 160         /**
 161          * Get the manufacturer of this motor.
 162          *
 163          * @return the manufacturer
 164          */
 165         public Manufacturer getManufacturer() {
 166                 return manufacturer;
 167         }
 168
 169
 170         /**
 171          * Return the array of time points for this thrust curve.
 172          * @return      an array of time points where the thrust is sampled
 173          */
 174         public double[] getTimePoints() {
 175                 return time.clone();
 176         }
 177
 178         /**
 179          * Returns the array of thrust points for this thrust curve.
 180          * @return      an array of thrust samples
 181          */
 182         public double[] getThrustPoints() {
 183                 return thrust.clone();
 184         }
 185
 186         /**
 187          * Returns the array of CG points for this thrust curve.
 188          * @return      an array of CG samples
 189          */
 190         public Coordinate[] getCGPoints() {
 191                 return cg.clone();
 192         }
 193
 194         /**
 195          * Return a list of standard delays defined for this motor.
 196          * @return      a list of standard delays
 197          */
 198         public double[] getStandardDelays() {
 199                 return delays.clone();
 200         }
 201
 202
 203         /**
 204          * {@inheritDoc}
 205          * <p>
 206          * NOTE: In most cases you want to examine the motor type of the ThrustCurveMotorSet,
 207          * not the ThrustCurveMotor itself.
 208          */
 209         @Override
 210         public Type getMotorType() {
 211                 return type;
 212         }
 213
 214
 215         @Override
 216         public String getDesignation() {
 217                 return designation;
 218         }
 219
 220         @Override
 221         public String getDesignation(double delay) {
 222                 return designation + "-" + getDelayString(delay);
 223         }
 224
 225
 226         @Override
 227         public String getDescription() {
 228                 return description;
 229         }
 230
 231         @Override
 232         public double getDiameter() {
 233                 return diameter;
 234         }
 235
 236         @Override
 237         public double getLength() {
 238                 return length;
 239         }
 240
 241
 242         @Override
 243         public MotorInstance getInstance() {
 244                 return new ThrustCurveMotorInstance();
 245         }
 246
 247
 248         @Override
 249         public Coordinate getLaunchCG() {
 250                 return cg[0];
 251         }
 252
 253         @Override
 254         public Coordinate getEmptyCG() {
 255                 return cg[cg.length - 1];
 256         }
 257
 258
 259
 260
 261         @Override
 262         public double getBurnTimeEstimate() {
 263                 return burnTime;
 264         }
 265
 266         @Override
 267         public double getAverageThrustEstimate() {
 268                 return averageThrust;
 269         }
 270
 271         @Override
 272         public double getMaxThrustEstimate() {
 273                 return maxThrust;
 274         }
 275
 276         @Override
 277         public double getTotalImpulseEstimate() {
 278                 return totalImpulse;
 279         }
 280
 281         @Override
 282         public String getDigest() {
 283                 return digest;
 284         }
 285
 286
 287         /**
 288          * Compute the general statistics of this motor.
 289          */
 290         private void computeStatistics() {
 291
 292                 // Maximum thrust
 293                 maxThrust = 0;
 294                 for (double t : thrust) {
 295                         if (t > maxThrust)
 296                                 maxThrust = t;
 297                 }
 298
 299
 300                 // Burn start time
 301                 double thrustLimit = maxThrust * MARGINAL_THRUST;
 302                 double burnStart, burnEnd;
 303
 304                 int pos;
 305                 for (pos = 1; pos < thrust.length; pos++) {
 306                         if (thrust[pos] >= thrustLimit)
 307                                 break;
 308                 }
 309                 if (pos >= thrust.length) {
 310                         throw new BugException("Could not compute burn start time, maxThrust=" + maxThrust +
 311                                         " limit=" + thrustLimit + " thrust=" + Arrays.toString(thrust));
 312                 }
 313                 if (MathUtil.equals(thrust[pos - 1], thrust[pos])) {
 314                         // For safety
 315                         burnStart = (time[pos - 1] + time[pos]) / 2;
 316                 } else {
 317                         burnStart = MathUtil.map(thrustLimit, thrust[pos - 1], thrust[pos], time[pos - 1], time[pos]);
 318                 }
 319
 320
 321                 // Burn end time
 322                 for (pos = thrust.length - 2; pos >= 0; pos--) {
 323                         if (thrust[pos] >= thrustLimit)
 324                                 break;
 325                 }
 326                 if (pos < 0) {
 327                         throw new BugException("Could not compute burn end time, maxThrust=" + maxThrust +
 328                                         " limit=" + thrustLimit + " thrust=" + Arrays.toString(thrust));
 329                 }
 330                 if (MathUtil.equals(thrust[pos], thrust[pos + 1])) {
 331                         // For safety
 332                         burnEnd = (time[pos] + time[pos + 1]) / 2;
 333                 } else {
 334                         burnEnd = MathUtil.map(thrustLimit, thrust[pos], thrust[pos + 1],
 335                                         time[pos], time[pos + 1]);
 336                 }
 337
 338
 339                 // Burn time
 340                 burnTime = Math.max(burnEnd - burnStart, 0);
 341
 342
 343                 // Total impulse and average thrust
 344                 totalImpulse = 0;
 345                 averageThrust = 0;
 346
 347                 for (pos = 0; pos < time.length - 1; pos++) {
 348                         double t0 = time[pos];
 349                         double t1 = time[pos + 1];
 350                         double f0 = thrust[pos];
 351                         double f1 = thrust[pos + 1];
 352
 353                         totalImpulse += (t1 - t0) * (f0 + f1) / 2;
 354
 355                         if (t0 < burnStart && t1 > burnStart) {
 356                                 double fStart = MathUtil.map(burnStart, t0, t1, f0, f1);
 357                                 averageThrust += (fStart + f1) / 2 * (t1 - burnStart);
 358                         } else if (t0 >= burnStart && t1 <= burnEnd) {
 359                                 averageThrust += (f0 + f1) / 2 * (t1 - t0);
 360                         } else if (t0 < burnEnd && t1 > burnEnd) {
 361                                 double fEnd = MathUtil.map(burnEnd, t0, t1, f0, f1);
 362                                 averageThrust += (f0 + fEnd) / 2 * (burnEnd - t0);
 363                         }
 364                 }
 365
 366                 if (burnTime > 0) {
 367                         averageThrust /= burnTime;
 368                 } else {
 369                         averageThrust = 0;
 370                 }
 371
 372         }
 373
 374
 375         //////////  Static methods
 376
 377         /**
 378          * Return a String representation of a delay time.  If the delay is {@link #PLUGGED},
 379          * returns "P".
 380          *
 381          * @param delay         the delay time.
 382          * @return                      the <code>String</code> representation.
 383          */
 384         public static String getDelayString(double delay) {
 385                 return getDelayString(delay, "P");
 386         }
 387
 388         /**
 389          * Return a String representation of a delay time.  If the delay is {@link #PLUGGED},
 390          * <code>plugged</code> is returned.
 391          *
 392          * @param delay         the delay time.
 393          * @param plugged       the return value if there is no ejection charge.
 394          * @return                      the String representation.
 395          */
 396         public static String getDelayString(double delay, String plugged) {
 397                 if (delay == PLUGGED)
 398                         return plugged;
 399                 delay = Math.rint(delay * 10) / 10;
 400                 if (MathUtil.equals(delay, Math.rint(delay)))
 401                         return "" + ((int) delay);
 402                 return "" + delay;
 403         }
 404
 405
 406
 407         ////////  Motor instance implementation  ////////
 408         private class ThrustCurveMotorInstance implements MotorInstance {
 409
 410                 private int position;
 411
 412                 // Previous time step value
 413                 private double prevTime;
 414
 415                 // Average thrust during previous step
 416                 private double stepThrust;
 417                 // Instantaneous thrust at current time point
 418                 private double instThrust;
 419
 420                 // Average CG during previous step
 421                 private Coordinate stepCG;
 422                 // Instantaneous CG at current time point
 423                 private Coordinate instCG;
 424
 425                 private final double unitRotationalInertia;
 426                 private final double unitLongitudinalInertia;
 427                 private final Motor parentMotor;
 428
 429                 private int modID = 0;
 430
 431                 public ThrustCurveMotorInstance() {
 432                         log.debug("ThrustCurveMotor:  Creating motor instance of " + ThrustCurveMotor.this);
 433                         position = 0;
 434                         prevTime = 0;
 435                         instThrust = 0;
 436                         stepThrust = 0;
 437                         instCG = cg[0];
 438                         stepCG = cg[0];
 439                         unitRotationalInertia = Inertia.filledCylinderRotational(getDiameter() / 2);
 440                         unitLongitudinalInertia = Inertia.filledCylinderLongitudinal(getDiameter() / 2, getLength());
 441                         parentMotor = ThrustCurveMotor.this;
 442                 }
 443
 444                 @Override
 445                 public Motor getParentMotor(){
 446                         return parentMotor;
 447                 }
 448
 449                 @Override
 450                 public double getTime() {
 451                         return prevTime;
 452                 }
 453
 454                 @Override
 455                 public Coordinate getCG() {
 456                         return stepCG;
 457                 }
 458
 459                 @Override
 460                 public double getLongitudinalInertia() {
 461                         return unitLongitudinalInertia * stepCG.weight;
 462                 }
 463
 464                 @Override
 465                 public double getRotationalInertia() {
 466                         return unitRotationalInertia * stepCG.weight;
 467                 }
 468
 469                 @Override
 470                 public double getThrust() {
 471                         return stepThrust;
 472                 }
 473
 474                 @Override
 475                 public boolean isActive() {
 476                         return prevTime < time[time.length - 1];
 477                 }
 478
 479                 @Override
 480                 public void step(double nextTime, double acceleration, AtmosphericConditions cond) {
 481
 482                         if (!(nextTime >= prevTime)) {
 483                                 // Also catches NaN
 484                                 throw new IllegalArgumentException("Stepping backwards in time, current=" +
 485                                                 prevTime + " new=" + nextTime);
 486                         }
 487                         if (MathUtil.equals(prevTime, nextTime)) {
 488                                 return;
 489                         }
 490
 491                         modID++;
 492
 493                         if (position >= time.length - 1) {
 494                                 // Thrust has ended
 495                                 prevTime = nextTime;
 496                                 stepThrust = 0;
 497                                 instThrust = 0;
 498                                 stepCG = cg[cg.length - 1];
 499                                 return;
 500                         }
 501
 502
 503                         // Compute average & instantaneous thrust
 504                         if (nextTime < time[position + 1]) {
 505
 506                                 // Time step between time points
 507                                 double nextF = MathUtil.map(nextTime, time[position], time[position + 1],
 508                                                 thrust[position], thrust[position + 1]);
 509                                 stepThrust = (instThrust + nextF) / 2;
 510                                 instThrust = nextF;
 511
 512                         } else {
 513
 514                                 // Portion of previous step
 515                                 stepThrust = (instThrust + thrust[position + 1]) / 2 * (time[position + 1] - prevTime);
 516
 517                                 // Whole steps
 518                                 position++;
 519                                 while ((position < time.length - 1) && (nextTime >= time[position + 1])) {
 520                                         stepThrust += (thrust[position] + thrust[position + 1]) / 2 *
 521                                                                         (time[position + 1] - time[position]);
 522                                         position++;
 523                                 }
 524
 525                                 // End step
 526                                 if (position < time.length - 1) {
 527                                         instThrust = MathUtil.map(nextTime, time[position], time[position + 1],
 528                                                         thrust[position], thrust[position + 1]);
 529                                         stepThrust += (thrust[position] + instThrust) / 2 *
 530                                                                         (nextTime - time[position]);
 531                                 } else {
 532                                         // Thrust ended during this step
 533                                         instThrust = 0;
 534                                 }
 535
 536                                 stepThrust /= (nextTime - prevTime);
 537
 538                         }
 539
 540                         // Compute average and instantaneous CG (simple average between points)
 541                         Coordinate nextCG;
 542                         if (position < time.length - 1) {
 543                                 nextCG = MathUtil.map(nextTime, time[position], time[position + 1],
 544                                                 cg[position], cg[position + 1]);
 545                         } else {
 546                                 nextCG = cg[cg.length - 1];
 547                         }
 548                         stepCG = instCG.add(nextCG).multiply(0.5);
 549                         instCG = nextCG;
 550
 551                         // Update time
 552                         prevTime = nextTime;
 553                 }
 554
 555                 @Override
 556                 public MotorInstance clone() {
 557                         try {
 558                                 return (MotorInstance) super.clone();
 559                         } catch (CloneNotSupportedException e) {
 560                                 throw new BugException("CloneNotSupportedException", e);
 561                         }
 562                 }
 563
 564                 @Override
 565                 public int getModID() {
 566                         return modID;
 567                 }
 568         }
 569
 570
 571
 572         @Override
 573         public int compareTo(ThrustCurveMotor other) {
 574
 575                 int value;
 576
 577                 // 1. Manufacturer
 578                 value = COLLATOR.compare(this.manufacturer.getDisplayName(),
 579                                 ((ThrustCurveMotor) other).manufacturer.getDisplayName());
 580                 if (value != 0)
 581                         return value;
 582
 583                 // 2. Designation
 584                 value = DESIGNATION_COMPARATOR.compare(this.getDesignation(), other.getDesignation());
 585                 if (value != 0)
 586                         return value;
 587
 588                 // 3. Diameter
 589                 value = (int) ((this.getDiameter() - other.getDiameter()) * 1000000);
 590                 if (value != 0)
 591                         return value;
 592
 593                 // 4. Length
 594                 value = (int) ((this.getLength() - other.getLength()) * 1000000);
 595                 return value;
 596
 597         }
 598
 599
 600 }