Class: wsim.rotaryPowerTakeOff
==============================


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   wsim.rotaryPowerTakeOff is a class representing a rotary power-take-off
   mechanism in a wave energy converter. It facilitates sending the correct
   forces to an MBDyn multibody simulation. wsim.rotaryPowerTakeOff applies
   opposite moments to two MBDyn nodes based attahed to a
   mbdyn.pre.revoluteHinge object from the MBDYn simulation toolbox. Moments
   are applied based on the relative angular displacement and velocity of
   the two nodes about the revolute hinge rotation axis.
  
   wsim.rotaryPowerTakeOff Methods:
  
     rotaryPowerTakeOff - wsim.rotaryPowerTakeOff constructor
     forceAndMoment - returns the forces and moments applied by the PTO in 3D
  
     Inheirited Methods
  
     advanceStep - advance to the next simulation time step
     logData - appends the internal variable data to the log
     loggingSetup - sets up data logging for a wsim.linearPowerTakeOff object
  
  

Inheiritance Graph
--------------------------------------------------
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.. graphviz::

   digraph graph_for_rotaryPowerTakeOff {
      "handle" -> "wsim.powerTakeOff" -> "wsim.rotaryPowerTakeOff";
   }

Parent Class Properties and Methods
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handle
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Inheirited Properties
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None

Inheirited Methods
""""""""""""""""""""""""""""""""""""""""""""""""""

* addlistener : *ADDLISTENER  Add listener for event.*
* addlistener : *ADDLISTENER  Add listener for event.*
* addlistener : *ADDLISTENER  Add listener for event.*
* addlistener : *ADDLISTENER  Add listener for event.*
* addlistener : *ADDLISTENER  Add listener for event.*
* delete : *DELETE   Delete a handle object.*
* eq : *== (EQ)   Test handle equality.*
* findobj : *FINDOBJ   Find objects matching specified conditions.*
* findprop : *FINDPROP   Find property of MATLAB handle object.*
* ge : *>= (GE)   Greater than or equal relation for handles.*
* gt : *> (GT)   Greater than relation for handles.*
* isvalid : *ISVALID   Test handle validity.*
* le : *<= (LE)   Less than or equal relation for handles.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* lt : *< (LT)   Less than relation for handles.*
* ne : *~= (NE)   Not equal relation for handles.*
* notify : *NOTIFY   Notify listeners of event.*
* notify : *NOTIFY   Notify listeners of event.*


wsim.powerTakeOff
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Inheirited Properties
""""""""""""""""""""""""""""""""""""""""""""""""""

* id
* loggingInfo
* loggingOn
* otherNode
* referenceNode
* uniqueLoggingNames


Inheirited Methods
""""""""""""""""""""""""""""""""""""""""""""""""""

* powerTakeOff : *wsim.powerTakeOff constructor*
* advanceStep : *advance to the next simulation time step*
* finish : *method called at end of wecSim simulation*
* forceAndMoment : *forceAndMoment should return the force and moment from a PTO*
* logData : *appends the internal variable data to the log*
* loggingSetup : *sets up data logging for a wsim.linearPowerTakeOff object*
* start : *initialise the pto simulation*


Properties
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No public properties

Methods
-------
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* rotaryPowerTakeOff
* advanceStep
* forceAndMoment
* start


rotaryPowerTakeOff
^^^^^^^^^^^^^^^^^^

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Summary
""""""""""""""""""""

wsim.rotaryPowerTakeOff constructor


Syntax
""""""""""""""""""""

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   rot = wsim.rotaryPowerTakeOff (revolute_hinge)
   rot = wsim.rotaryPowerTakeOff (..., 'Parameter', Value)
  

Description
""""""""""""""""""""

.. code-block:: none

   wsim.rotaryPowerTakeOff is a class representing a rotary
   power-take-off mechanism in a wave energy converter. It
   facilitates sending the correct forces to an MBDyn multibody
   simulation. wsim.rotaryPowerTakeOff applies opposite moments
   to two MBDyn nodes based attahed to a mbdyn.pre.revoluteHinge
   object from the MBDYn simulation toolbox. Moments are applied
   based on the relative displacement and velocity of the two
   nodes about the revolute hinge rotation axis.
  

Inputs
""""""""""""""""""""

revolute_hinge
""""""""""""""

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   mbdyn.pre.revoluteHinge object


torque_fcn
""""""""""

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   function handle or string to be used to
   calculate the torque to be applied between the two nodes
   making up the PTO. torque_fcn is a function which takes two
   arguments with the following signature:
   
        torque_value = myfcn (time, reltheta, relomega)
   
   where reltheta is the relative angular displacement of the
   two nodes about the revolute hinge axis, and relomega is
   the relative angular velocity of the two nodes abot that
   axis. torque_value is expected to be a scalar value, the
   value of the torqe acting on the reference node. The
   opposite torque is applied to the other node. By default
   the reference node is the first node connected to the
   revolute hinge. See the 'ReferenceNode' options below to
   change this.
   


Additional arguments may be supplied as parameter-value pairs:


InitialThetaZero
""""""""""""""""

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   optional true/false flag
   indicating whether the intial relative rotation angle
   (about the revolute hinge axis) should be taken as the
   reference point for relative rotation during the
   simulation, i.e. the PTO starts with an initial relative
   theta of zero for the purposes of torque calulation, and
   future displacement is measured relative to this initial
   position. If false, the raw relative angular displacement
   is used instead. Default is true if not supplied.
   


ReferenceNode
"""""""""""""

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   optional integer, 1 or 2. By default the
   torque returned by torque_fcn (see above) is applied to
   the first node attached to the revolute hinge. This can be
   changed with this option. The number supplied in
   ReferenceNode sets which node is the reference node.
   Default is 1 if not supplied.
   


LoggedVars
""""""""""

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   cell array of character vectors containing
   the names of internal variables to be logged. If supplied,
   only those variables named in this cell array will
   actually have data logged. The available variables are:
           


InternalMoment
""""""""""""""

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   the scalar moment (torque) applied
   about the revolute hinge axis
   


RelativeAngularDisplacement
"""""""""""""""""""""""""""

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   the relative angular
   displacement of the nodes attached to the revolute hinge
   


RelativeAngularVelocity
"""""""""""""""""""""""

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   the relative angular
   velocity of the nodes attached to the revolute hinge
   


Outputs
""""""""""""""""""""

rot
"""

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   wsim.rotaryPowerTakeOff object



See Also
""""""""""""""""""""

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advanceStep
^^^^^^^^^^^

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Summary
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advance to the next simulation time step


Syntax
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   advanceStep (pto)
  

Description
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   wsim.powerTakeOff.advanceStep is intended to be called when
   the simulation is ready to advance to the next time step. It
   is always called when the powerTakeOff is used with the
   wsim.wecSim class to manage a simulation. The only tasks done
   by wsim.powerTakeOff.advanceStep is to log data to the
   wsim.logger object (internally it calls
   wsim.powerTakeOff.logData). It is intended that subclasses of
   wsim.powerTakeOff can extend this method to perform other
   tasks.
  

Inputs
""""""""""""""""""""

pto
"""

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   wsim.powerTakeOff object


See Also
""""""""""""""""""""

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 Help for wsim.rotaryPowerTakeOff/advanceStep is inherited from superclass WSIM.POWERTAKEOFF
 


forceAndMoment
^^^^^^^^^^^^^^

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Summary
""""""""""""""""""""

returns the forces and moments applied by the PTO in 3D


Syntax
""""""""""""""""""""

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   [FM, ptotorque, reltheta, relomega] = forceAndMoment (rot)
  

Description
""""""""""""""""""""

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   wsim.rotaryPowerTakeOff.forceAndMoment calculates the forces
   and moments applied in the global frame by the PTO to the two
   nodes attached to the revolute hinge associated with the PTO.
  

Inputs
""""""""""""""""""""

rot
"""

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   wsim.rotaryPowerTakeOff object


Outputs
""""""""""""""""""""

FM
""

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   (6 x 2) vector of forces and moments in the global
   frame which the PTO is applying to the two nodes. The first
   column is the forces applied to the reference node, the
   second column is the forces and moments applied to the
   second node.
   


ptotorque
"""""""""

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   scalar torque value applied to the nodes about
   the revolute hinge axis
   


reltheta
""""""""

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   relative angular displacement of the nodes about
   the revolute hinge axis
   


relomega
""""""""

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   relative angular velocity of the nodes about
   the revolute hinge axis
   
   
   




start
^^^^^

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Summary
""""""""""""""""""""

initialise the pto simulation


Syntax
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   start (pto, siminfo)
  

Description
""""""""""""""""""""

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   wsim.powerTakeOff.start is called by wecSim at the beginning
   of a simulation to allow any initialisation to take place.
  

Inputs
""""""""""""""""""""

pto
"""

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   wsim.powerTakeOff object


siminfo
"""""""

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   structure containing information about the
   simulation the PTO is part of. It should contain the
   following fields:
   
   TStart : Start time of the simulation
   
   TEnd : End time of the simulation
   
   TStep : Time step size
   
   MBDynSystem : the MBDyn object used in the simulation
   
   HydroSystem : the wsim.hydroSystem object used in the
    simulation
   
   


See Also
""""""""""""""""""""

.. code-block:: none

 Help for wsim.rotaryPowerTakeOff/start is inherited from superclass WSIM.POWERTAKEOFF