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rev1.py
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rev1.py
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# -*- coding: utf-8 -*-
"""
McGill Rocket Team Flight Simulator
Authors: Matt Saathoff, Mei Qi Tang
Internally, this simulator uses only SI units. When inputting values, it is currently up to the user to make sure
the units are correct. At some point we should make a GUI that supports unit conversion when inputting values,
but we should still do all our calculations in SI.
There is still a lot of structure left unmade too, as well as variables which need to be passed between functions.
I can keep working on that, but at some point I'm not totally sure what each function will need. Also, each
variable that is passed to a creator function needs to be checked for improper inputs to avoid running into
python's native exception handling. I've been doing this with if statements, print statements, and error state
attributes, but if someone wants convert this to proper try/catch exception statements that would probably be good.
"""
#Import Libraries
import numpy as np
import matplotlib.pyplot as plt
import IPython.display as IPy
from math import factorial
import helper
#A Class for Creating Rocket Objects
class Rocket:
#A Class for Creating Motor Objects
class Motor:
#List of Supported Motor Types
motorTypes = ['commercial solid','solid','hybrid','liquid']
#Usefull Constants
R = 8.3144598 #J/K*mol
#A Class for Creating Tank Objects
class Tank:
#Lists of Supported Propellants
liquidFuels = ['RP1','ethanol','methanol','LNG','gasoline','N2H4','MMH','UDMH']
hybridFuels = ['paraffin','HTPB','PE']
oxidizers = ['N2O','LOx','nitrox','H2O2','ClF3','ClF5','N2O4','N2F4','ClO3F','FClO4','FLOx']
pressurants = ['He','N2','Ar']
#Create a tank Object
def __init__(self, motorType, propellant, volume, propellantMass, initialPressure, outletDiameter, pressurant = None, LOxFraction = None, verbose = False):
#Error State Attribute
self.error = False
#Check/Assign the Propellant Type/Key
if motorType == 'liquid' and propellant in self.liquidFuels:
self.type = 'liquid fuel'
self.propellant = propellant
for key in range(len(self.liquidFuels)):
if propellant == self.liquidFuels[key]:
self.key = key
break
elif motorType == 'hybrid' and propellant in self.hybridFuels:
self.type = 'hybrid fuel'
self.propellant = propellant
for key in range(len(self.hybridFuels)):
if propellant == self.hybridFuels[key]:
self.key = key
break
elif motorType in {'liquid','hybrid'} and propellant in np.append(self.liquidFuels, self.hybridFuels):
print('Invalid Fuel Selection')
if motorType == 'liquid':
print('Supported Liquid Fuels: ' + str(self.liquidFuels))
else:
print('Supported Hybrid Fuels: ' + str(self.hybridFuels))
self.error = True
return
elif propellant in self.oxidizers:
self.type = 'oxidizer'
self.propellant = propellant
for key in range(len(self.oxidizers)):
if propellant == self.oxidizers[key]:
self.key = key
break
if propellant in {'nitrox','FLOx'}:
if type(LOxFraction) not in {float, np.float64} or LOxFraction < 0 or LOxFraction > 1:
print('LOxFraction must be a number between 0 and 1')
self.error = True
return
else:
print('Propellants Not Supported')
if motorType == 'liquid':
print('Supported Liquid Fuels: ' + str(self.liquidFuels))
else:
print('Supported Hybrid Fuels: ' + str(self.hybridFuels))
print('Supported Oxidizers: ' + str(self.oxidizers))
self.error = True
return
#Check the Volume
if helper.validateNumber(volume):
self.V = volume
else:
print('Volume must be a number greater than 0')
self.error = True
return
#Check/Assign the Propellant Mass
if helper.validateNumber(propellantMass):
self.m = np.array([propellantMass])
else:
print('Propellent Mass must be a number greater than 0')
self.error = True
return
#Check/Assign the Initial Pressure
if helper.validateNumber(initialPressure):
self.P = np.array([initialPressure])
else:
print('Initial Pressure must be a number greater than 0')
self.error = True
return
#Check/Assign the Outlet Diameter
if helper.validateNumber(outletDiameter):
self.D = outletDiameter
else:
print('Outlet Diameter must be a number greater than 0')
self.error = True
return
#Check/Assign the Pressurant
if pressurant and pressurant in self.pressurants:
self.pressurant = pressurant
else:
if type(pressurant) == str:
print('Pressurant Not Supported')
print('Supported Pressurants: ' + str(self.pressurants))
self.error = True
return
elif verbose == True:
print('Invalid Pressurant')
self.error = True
#Assign the Verbose Attribute
self.verbose = verbose
#Initialize a Tank Before Launch
def initialize(self, temperature):
pass
#Update a Tank
def updateTank(self, a, theta):
pass
#A Class for Creating Combustion Chamber Objects
class Chamber:
#Create a chamber Object
def __init__(self, motorType, ID, length, fuelLength = None, portDiameter = None, preCombustion = None, verbose = False):
#Error State Attribute
self.error = False
#Solid Motor Combustion Chamber Model
def updateSolid(self, h):
return None, None
#Hybrid Motor Combustion Chamber Model
def updateHybrid(self, ODot, h):
return None, None
#Liquid Motor Combustion Chamber Model
def updateLiquid(self, ODot, FDot, h):
return None, None
#A Class for Creating Nozzle Objects
class Nozzle:
#List of Supported Nozzle Types
nozzleTypes = ['CD']
#Create a Nozzle Object
def __init__(self, nozzleType, inletRadius, throatRadius, areaRatio, outletAngle, k, molecularWeight, efficiency = 1, verbose = False):
#Check the Nozzle Type and get its Key
if nozzleType in self.nozzleTypes:
#Find the Nozzle Key
for key in range(len(self.nozzleTypes)):
if self.nozzleTypes[key] == nozzleType:
self.key = key
break
else:
print('Nozzle Type Not Supported')
print('Supported Nozzle Types: ' + str(self.nozzleTypes))
self.error = True
return
#Check the Throat Radius
if not helper.validateNumber(throatRadius):
print('Throat Radius must be a number greater than 0')
self.error = True
return
#Check the Inlet Radius
if not helper.validateNumber(inletRadius) or inletRadius <= throatRadius:
print('Inlet Radius must be a number greater than the Throat Radius')
self.error = True
return
#Check the Area Ratio
if not helper.validateNumber(areaRatio) or areaRatio <= 1:
print('Area Ratio must be a number greater than 1')
self.error = True
return
#Check the Outlet Angle
if not helper.validateNumber(outletAngle) or outletAngle < 0 or outletAngle > 90:
print('Outlet Angle must be a number between 0 and 90 degrees')
self.error = True
return
#Check k
if not helper.validateNumber(k) or k < 1:
print('k must be a number greater than 1')
self.error = True
return
#Check the Molecular Weight
if not helper.validateNumber(molecularWeight) or molecularWeight < 0:
print('Molecular weight must be a number greater than 0')
self.error = True
return
#Check the Efficiancy
if not helper.validateNumber(efficiency) or efficiency > 1:
print('Efficiency must be a number between 0 and 1')
self.error = True
return
#Assign All Attributes
self.nozzleType = nozzleType
self.epsilon = areaRatio
self.ri = inletRadius
self.rt = throatRadius
self.re = throatRadius*np.sqrt(areaRatio)
self.theta = outletAngle
self.k = k
self.M = molecularWeight
self.R = Rocket.Motor.R
self.F = 0
self.mDot = 0
self.efficiency = efficiency
self.choked = False
self.error = False
self.verbose = verbose
#Update the Nozzle (Assuming Isentropic Flow)
def updateNozzle(self, P0, T0, Patm, precision = 10**-10):
#Check for Choked Flow
self.choked = (Patm <= P0*(2/(self.k + 1))**((self.k + 1)/(self.k - 1)))
#Determine the Thrust and Mass Flow
if self.choked:
#Calculate the Mass FLow through the Throat
self.mDot = self.efficiency*P0*np.pi*(self.rt**2)*np.sqrt(self.k/(self.R*T0))*(1 + (self.k - 1)/2)**((self.k + 1)/(2 - 2*self.k))
#Calculate the Exit Mach
"""
There is almost certainly a better way to solve this, but this method isn't bad
either since it runs in O(log(Me/precision))
"""
Max = 1
while self.epsilon > ((1 + 0.5*(self.k - 1)*Max**2)**(0.5*(self.k + 1)/(self.k - 1)))/Max:
Max *= 2
Min = Max/2
while abs(Max - Min) > precision:
Me = (Min + Max)/2
if self.epsilon > ((1 + 0.5*(self.k - 1)*Me**2)**(0.5*(self.k + 1)/(self.k - 1)))/Me:
Min = Me
else:
Max = Me
Me = (Min + Max) / 2 #not sure about this here...
#Calculate Pe/P0 (Exhaust Pressure over Stagnation Pressure)
Pr = ((2/(self.k + 1))/(1 + 0.5*(self.k - 1)*Me**2))**(self.k/(self.k - 1))
#Calculate the Exhaust Velocity
Ve = np.sqrt(2*self.R*T0*self.k*((1 - (Pr)**((self.k - 1))/self.k))/(self.M*(self.k - 1)))
#Calculate the Thrust
self.F = self.mDot*Ve + (P0*Pr - Patm)*np.pi*self.re**2
else:
pass
#Create a Motor Object
def __init__(self, motorType, fuel = None, fuelMass = None, fuelVolume = None, fuelPressure = None, fuelOutletDiameter = None, fuelPressurant = None, oxidizer = None, oxMass = None, oxVolume = None, oxPressure = None, oxOutletDiameter = None, oxPressurant = None, LOxFraction = None, chamberID = None, chamberlength = None, fuelLength = None, preCombustionLength = None, portDiameter = None, nozzleType = None, inletRadius = None, throatRadius = None, areaRatio = None, outletAngle = None, exhaustk = None, exhaustMolecularWeight = None, efficiency = 0.9, thrustCurve = None, verbose = False):
#Check the Motor Type and Find its Key
if motorType in self.motorTypes:
for key in range(len(self.motorTypes)):
if self.motorTypes[key] == motorType:
self.motorType = motorType
self.key = key
break
else:
print('Motor Type not Supported')
print('Supported Motor Types: ' + str(self.motorTypes))
self.error = True
return
#Set a Default Nozzle Inlet Radius if not Provided
if not inletRadius and helper.validateNumber(type(chamberID)):
if verbose == True:
print('Inlet radius not provided: using chamberID/2')
inletRadius = chamberID/2
#Check for a Valid Thrust Curve
if type(thrustCurve) == np.ndarray:
self.error = False
if np.shape(thrustCurve)[0] != 2 and len(np.shape(thrustCurve)) < 10:
print('thrustCurve must be a 2 Dimensional array with time steps in row 1 and thrust in row 2. Thurst data over time should at least be 10 entries.')
self.error = True
return
self.thrustCurve = thrustCurve
self.index = 0
elif motorType == 'commercial solid':
print('A thrust curve must be provided for commercial solid motors')
self.error = True
return
else:
#Assign All Motor Attributes
self.thrustCurve = None
self.error = False
self.on = True
if motorType == 'solid':
self.chamber = Rocket.Motor.Chamber(motorType, chamberID, chamberlength, fuelLength, portDiameter, None, verbose)
self.error = self.chamber.error
elif motorType == 'hybrid':
self.oxTank = Rocket.Motor.Tank(oxidizer, oxVolume, oxMass, oxPressure, oxOutletDiameter, oxPressurant, LOxFraction, verbose)
self.chamber = Rocket.Motor.Chamber(motorType, chamberID, chamberlength, fuelLength, portDiameter, preCombustionLength, verbose)
self.error = (self.oxTank.error == True or self.chamber.error == True)
elif motorType == 'liquid':
self.oxTank = Rocket.Motor.Tank(oxidizer, oxVolume, oxMass, oxPressure, oxOutletDiameter, oxPressurant, LOxFraction, verbose)
self.fuelTank = Rocket.Motor.Tank(fuel, fuelVolume, fuelMass, fuelPressure, fuelOutletDiameter, fuelPressurant, None, verbose)
self.chamber = Rocket.Motor.Chamber(motorType, chamberID, chamberlength, None, None, None, verbose)
self.error = (self.oxTank.error == True or self.fuelTank.error == True or self.chamber.error == True)
else:
self.error = True
"""We should calculate k and M for the exhaust here rather than making the user input it"""
self.nozzle = Rocket.Motor.Nozzle(nozzleType, inletRadius, throatRadius, areaRatio, outletAngle, exhaustk, exhaustMolecularWeight, efficiency, verbose)
self.error = (self.error or self.nozzle.error)
#Update the Motor
def updateMotor(self, a, theta, Patm, t, h):
#Use Linear Interpolation on a Given Thrust Curve
if np.any(self.thrustCurve):
while self.thrustCurve[0][self.index] <= t and self.index < len(self.thrustCurve[0]) - 1:
self.index += 1
w = (t - self.thrustCurve[0][self.index - 1])/(self.thrustCurve[0][self.index] - self.thrustCurve[0][self.index - 1])
F = w*self.thrustCurve[1][self.index - 1] + (1 - w)*self.thrustCurve[1][self.index]
mDot = None
return F, mDot
#Solid Motor Model
elif self.motorType == 'solid':
P0, T0 = self.chamber.updateSolid(h)
return self.nozzle.updateNozzle(P0, T0, Patm)
#Hybrid Motor Model
elif self.motorType == 'hybrid':
ODot = self.oxTank.updateTank(a, theta)
P0, T0 = self.chamber.updateHybrid(ODot, h)
return self.nozzle.updateNozzle(P0, T0, Patm)
#Liquid Motor Model
elif self.motorType == 'liquid':
ODot = self.oxTank.updateTank(a, theta)
FDot = self.fuelTank.updateTank(a, theta)
P0, T0 = self.chamber.updateLiquid(ODot, FDot, h)
return self.nozzle.updateNozzle(P0, T0, Patm)
#Error State
else:
self.error = True
return 0, 0
class Airframe:
#Create an airframe Object
def __init__(self, emptyMass, cg, cp, diameter, cd):
pass
#Update the Forces on the Rocket
def updateAirframe(self):
pass
#Create a Rocket Object
def __init__(self, name, h = 0.01, rkOrder = 4, save = True, load = False):
#Check the Name
if type(name) != str:
print('Rocket Name Must be a String')
return
#Load Rocket Information (read input config files)
if load == True:
pass
#Create the Rocket
self.airframe = Rocket.Airframe()
self.motor = Rocket.Motor()
#Attributes for the Rocket's Position. Array indexing corresponds with derivatives
self.x = np.zeros(rkOrder + 2)
self.y = np.zeros(rkOrder + 2)
self.z = np.zeros(rkOrder + 2)
self.theta = np.zeros(rkOrder)
self.position = np.zeros(4)
self.velocity = np.zeros(4)
self.acceleration = np.zeros(4)
self.jerk = np.zeros(4)
#Speed Logging Variables
self.railSpeed = 0
self.maxSpeed = 0
self.apogeeSpeed = 0
self.drogueSpeed = 0
self.mainSpeed = 0
#Attributes for the Rocket's Status
self.distance = 0
self.condition = 0
self.apogee = False
self.landed = False
#Other Simulation Control Variables
self.rk = max(rkOrder, 2)
self.h = h
#Save the Rocket
self.save()
#Save a Rocket
def save(self):
pass
#Update the Rocket's Position/Orientation Using its Old Position and Updated Derivatives
def updateRocket(self):
for i in range(self.rk - 1):
for j in range(i + 1, self.rk):
self.x[i] += (self.x[j]*self.h**(j - i))/factorial(j - i)
self.y[i] += (self.y[j]*self.h**(j - i))/factorial(j - i)
self.z[i] += (self.z[j]*self.h**(j - i))/factorial(j - i)
self.theta[i] += (self.theta[j]*self.h**(j - i))/factorial(j - i)
self.position = np.vstack((self.position, np.array([self.x[0], self.y[0], self.z[0], self.theta[0]])))
self.velocity = np.vstack((self.velocity, np.array([self.x[1], self.y[1], self.z[1], self.theta[1]])))
self.acceleration = np.vstack((self.acceleration, np.array([self.x[2], self.y[2], self.z[2], self.theta[2]])))
self.jerk = np.vstack((self.jerk, np.array([self.x[3], self.y[3], self.z[3], self.theta[3]])))
#Simulate a Single Flight
def simulate(self, windSpeed, windDirection, gustSpeed, temperature, railDirection, railAngle = 6, railLength = 5.45, altitude = 1300, latitude = 32.94205, longitude = -106.91548, h = 0.1, static = False, plot = True):
#Check the Static Fire Control
if type(static) not in {bool, str}:
print("Static Fire command must be: 'True'/'vertical', 'horizontal', or 'False'")
return
#Check Other Inputs
#Check if Simulation is for a Static Fire or a Launch
i = 0
if static in {True, 'vertical'}:
#Vertical Static Fire
while self.Motor.on == True:
self.Motor.updateMotor()
i += 1
#Show Stats Here
elif static == 'horizontal':
#Horizontal Static Fire
pass
else:
#Simulate a Complete FLight
#Set the Starting Position/Angle
"""I think we should make the launch rail the origin and then work with the GPS coordinates later
self.x[0] = longitude
self.y[0] = latitude
self.z[0] = altitude
"""
self.theta[0] = railAngle
self.position = np.array([longitude, latitude, altitude, railAngle])
#Simulate the Launch off the Rail
while self.distance <= railLength:
self.motor.updateMotor()
self.updateAtmosphere()
self.airframe.updateAirframe()
self.updateRocket()
i += 1
#Simulate the Ascent Power
while self.apogee == False:
self.motor.updateRocket()
self.updateAtmosphere()
self.airframe.updateAirframe()
self.updateRocket()
i += 1
#Simulate the Descent
while self.landed == False:
self.updateAtmosphere()
self.airframe.updateAirframe()
self.updateRocket
i += 1
#Simulate Several Flights
def runSimulation(self, flights = 100, mapSize = (1000, 1000), plot = True):
#Check the Number of Flights
if type(flights) not in {int, np.int32} or flights < 1:
print('The number of flights must be an integer greater than 0')
return
#Check the mapSize
if type(mapSize) != tuple or len(mapSize) != 2 or type(mapSize[0]) not in {int, np.int32} or type(mapSize[0]) not in {int, np.int32} or mapSize[0] < 10 or mapSize[1] < 10:
print('Map Size must be a 2-tuple with integer entries greater than 10')
return
#Initialize Array for Storing Sim Data
#Rows are: Apogee, Rail Speed, Max Speed, Speed at Apogee, Speed Under Drogue, Speed Under Main, Landing Latitude, Landing Longitude
results = np.zeros((flights, 8))
#Simulate Several Flights
for i in range(flights):
results[i] = self.simulate(plot = False)
#Calculate the Average Results
averageResults = np.mean(results, axis = 0)
#Create a Heat Map for the Landing Zone
'''How can we position this apropriately and calculate the distance'''
heatMap = np.zeros(mapSize)
for i in range(mapSize[0]):
for j in range(mapSize[1]):
for k in range(flights):
#heatMap[i][j] += distance
pass
#Normalize the Heat Map
heatMap = max(heatMap) - heatMap
heatMap /= np.sum(heatMap)
#Color and Overlay the Heat Map