Fix problem with scaling up wing area; debug wing AR constraint

[avikde]

Closes #128

Related to #131

• debug effect of Rpow at a fixed minal
• debug why high minal solutions are bad

[avikde]

At AL=2.0, phi=120:

Rpow=0.06e3 => Opt Φ=120, minal=2.0, τ2/1 lim=2.0 => 0, [3.08 3.283 0.509 3.03 6.567 35.796 0.042], fHz=300.0, al[mg]=136.1, u∞=80.0, FD∞=36.5, pow=14.6, J=6766.1, AR=3.8, x=24.3

Rpow=0.07e3 => Opt Φ=120, minal=2.0, τ2/1 lim=2.0 => 0, [3.863 3.283 0.815 3.698 6.567 56.703 0.066], fHz=189.4, al[mg]=148.4, u∞=83.8, FD∞=53.7, pow=12.2, J=6791.8, AR=3.8, x=30.7

• there seems to be a discrete jump in selected parameters
• could try to force the freq to be in some range

with freq limit cycleFreqLims = [0.2,0.15] get Opt Φ=120, minal=2.0, τ2/1 lim=2.0 => 0, [14.462 3.48 0.698 20.0 0.0 53.694 0.062], fHz=200.0, al[mg]=5.2, u∞=209.8, FD∞=0.5, pow=4.4, J=51002.8, AR=0.3, x=7.8

• looks like a complete failure
• unact error is very high
• forget it for now and just say that there is a jump due to no dynamic solution or the algorithm failed to find one - it is fine for us either way

[avikde]

Is the problem due to it choosing min force and in the last one the uinf is dominated by inertial terms?

[avikde]

Problem with the minlift constraint. Even if AR is similar, the calculated lift is far above the actual lift. If the constraint is being satisfied, how could this happen?

[avikde]

At least the scaled velocities now make sense. Next check: Faero before vs. Faero next vs. scaled Faero before.

• verified that the lift is lower in what is returned, so the constraint must be wrong
• considering AR, still not quite matching up

Scaling the red lift by the lift approx function yields this. Should have matched up; but perhaps the error is due to delta y making kinematics worse.

[avikde]

Good solution at 300 minal Opt Φ=120, Rpow=10.0, minal=300, τ2/1 lim=2.0 => 0, [20.0 3.394 1.04 5.153 2.87 80.0 0.088], fHz=142.6, al[mg]=307.3, u∞=177.8, FD∞=136.8, pow=22.5, J=26404.7, AR=4.0, x=37.5

This FD approaches the capability of the BigBee actuator for #131 so will stop here for now.

[avikde]

Re-running scaling1. Not yet changing Rpow

[avikde]

Force, power plots are great (solves #128). Freq also good.

• However Aw remains the same through the whole thing??
• cbar2 upper limit was too small

scaling1_0.1e3_new.zip

-> This was essentially a "fixed wing size" plot

[avikde]

Trying to add weight to uinf and Rpow separately

• J=682629.9 is not changing when I change the corresponding weight
• ret["s"] does not match uinf calculated from the trajectory. uinf constraint not working?

[avikde]

With uinfnorm false, get Opt Φ=90, Rpow=5.0, minal=180, τ2/1 lim=2.0 => 0, [19.093 2.61 0.993 4.302 0.0 76.372 0.081], fHz=154.3, al[mg]=187.5, u∞=95.4, FD∞=63.5, pow=13.6, J=229181.1, AR=4.0, x=27.5

• Problem is that without uinfnorm, it never picks nonlin transmission

[avikde]

For scaling1, trying to choose Rpow s.t. for high lift, high stroke, it will choose a high freq

[avikde]

Unfortunately it seems to never pick high power with u2 norm. Need uinfnorm back to get that flexibility again.

[avikde]

Bad results

scaling1_u2norm.zip