Advanced Lift Drag (AVL) Automation Tool

The Gazebo Advanced Plane vehicle model uses the Advanced Lift Drag plugin to model vehicle lift and drag behaviour. This tool allows you to calculate the parameters required to create a Advanced Lift Drag plugin for your own particular vehicle.

You only have to provide a few parameters for each wing foil and the tool will use this information to call the Athena Lattice Vortex (AVL) to make the necessary calculations. The results will then automatically be written into a provided plugin template that can then be copy-pasted into a model or world sdf file.

Install

To setup the tool:

1. Download AVL 3.36 from https://web.mit.edu/drela/Public/web/avl/. The file for AVL version 3.36 can be found about halfway down the page.

2. After downloading, extract AVL and move it to the home directory using:

   sudo tar -xf avl3.36.tgz
   mv ./Avl /home/

3. Follow the index.md found in ./Avl to finish the setup process for AVL (this requires that you set up plotlib and eispack libraries). We recommend using the gfortran compile option, which might further require that you to install gfortran. On Ubuntu can be done by running:

   sudo apt update
   sudo apt install gfortran

   When running the Makefile for AVL, you might encounter an Error 1 message stating that there is a directory missing. This does not prevent AVL from working for our purposes.

Once the process described in the AVL README is completed, AVL is ready to be used. No further set up is required on the side of the AVL or the tool.

If you want to move the location of the AVL directory, this can simply be done by passing the --avl_path flag to the input_avl.py file, using the desired directory location for the flag (don't forget to place a "/" behind the last part of the path). Running this will automatically also adjust the paths where necessary.

Run AVL

An example template has been provided in the form of the input.yml that implements a standard plane with two ailerons, an elevator and a rudder. This example template can be run using: python input_avl.py --yaml_file input.yml.

To run the tool for your plane:

1. Copy the example input.yml to <your_custom_yaml_file>.yml and modify it to match your desired plane

2. Run the tool on your yml file:

   python input_avl.py <your_custom_yaml_file>.yml

   Note that the yaml and argparse packages must be present in your Python environment.

3. The tool prompts for a range of vehicle specific parameters that are needed in order to specify the geometry and physical properties of the plane. You can either:

   • select a predefined model template (such as a Cessna or a VTOL), which has a known number of control surfaces, and just modify some physical properties, or
   • define a completely custom model

Once the script has been executed, the generated .avl, .sdf and a plot of the proposed control surfaces can be found in <your-plane-name> directory. The sdf file is the generated Advanced Lift Drag Plugin that can be copied and pasted into a model.sdf file, which can then be run in Gazebo.

Functionality

The input_avl.py file takes the user-provided parameters and creates an .avl file from this that can be read by AVL (the program). This happens in the process.sh file.

The output generated by AVL will be saved in two files: custom_vehicle_body_axis_derivatives.txt and custom_vehicle_stability_derivatives.txt. These two files contain the parameters that are required in order to populate the Advanced Lift Drag Plugin.

Finally, avl_out_parse.py reads the generated .txt files and assigns parameters to the correct elements in sdf.

The generated Advanced Lift Drag plugin (<custom_plane>.sdf) can be copied into the particular model.sdf file used by Gazebo.

Usability

The current implementation provides a minimal working example. More accurate measurements can be made by adjusting the chosen number of vortices along span and chord according to desired preferences. A good starting point for this can be found here: https://www.redalyc.org/pdf/6735/673571173005.pdf.

One can also more accurately model a vehicle by using a larger number of sections. In the current .yml file, only a left and right edge are defined for each surface yielding exactly one section, but the code supports expanding this to any number of desired sections.

INFO

• A control surface in AVL is always defined from left to right. This means you need to first provide the left edge of a surface and then the right edge. If you do this the opposite way around, a surface will essentially be defined upside down.
• The tool is designed to only support at most two control surfaces of any type on any one vehicle. Having more surfaces than that can lead to faulty behavior.
• Another important point is that these scripts make use of the match, case syntax, which was only introduced in Python in version 3.10.
• The primary reference resource for AVL can be found at https://web.mit.edu/drela/Public/web/avl/AVL_User_Primer.pdf. This document was written by the creators of AVL and contains all the variables that could be required in defining the control surfaces.
• AVL cannot predict stall values so these need to be calculated/estimated in another way. In the current implementation, default stall values have been taken from PX4's Advanced Plane. These should naturally be changed for new/different models.

Parameter Assignment

Below is a comprehensive list on how the parameters are assigned at output and what files in AVL they are taken from. The Advanced Lift Drag Plugin contains more detail about what each of these parameters do.

INFO

The parameters have not been verified by an expert, so you should check them in the plugin.

From the stability derivatives log file, the following advanced lift drag plugin parameters are taken:

Name in AVL	Name in Advanced Lift Drag Plugin	描述
Alpha	alpha	The angle of attack
Cmtot	Cem0	Pitching moment coefficient at zero angle of attack
CLtot	CL0	Lift Coefficient at zero angle of attack
CDtot	CD0	Drag coefficient at zero angle of attack
CLa	CLa	dCL/da (slope of CL-alpha curve)
CYa	CYa	dCy/da (sideforce slope wrt alpha)
Cla	Cell	dCl/da (roll moment slope wrt alpha)
Cma	Cema	dCm/da (pitching moment slope wrt aLpha - before stall)
Cna	Cena	dCn/da (yaw moment slope wrt alpha)
CLb	CLb	dCL/dbeta (lift coefficient slope wrt beta)
CYb	CYb	dCY/dbeta (side force slope wrt beta)
Clb	Cell	dCl/dbeta (roll moment slope wrt beta)
Cmb	Cemb	dCm/dbeta (pitching moment slope wrt beta)
Cnb	Cenb	dCn/dbeta (yaw moment slope wrt beta)

From the body axis derivatives log file, the following advanced lift drag plugin parameters are taken:

Name in AVL	Name in Advanced Lift Drag Plugin	描述
e	eff	Wing efficiency (Oswald efficiency factor for a 3D wing)
CXp	CDp	dCD/dp (drag coefficient slope wrt roll rate)
CYp	CYp	dCY/dp (sideforce slope wrt roll rate)
CZp	CLp	dCL/dp (lift coefficient slope wrt roll rate)
Clp	Cellp	dCl/dp (roll moment slope wrt roll rate)
Cmp	Cemp	dCm/dp (pitching moment slope wrt roll rate)
Cmp	Cenp	dCn/dp (yaw moment slope wrt roll rate)
CXq	CDq	dCD/dq (drag coefficient slope wrt pitching rate)
CYq	CYq	dCY/dq (side force slope wrt pitching rate)
CZq	CLq	dCL/dq (lift coefficient slope wrt pitching rate)
Clq	Cellq	dCl/dq (roll moment slope wrt pitching rate)
Cmq	Cemq	dCm/dq (pitching moment slope wrt pitching rate)
Cnq	Cenq	dCn/dq (yaw moment slope wrt pitching rate)
CXr	CDr	dCD/dr (drag coefficient slope wrt yaw rate)
CYr	CYr	dCY/dr (side force slope wrt yaw rate)
CZr	CLr	dCL/dr (lift coefficient slope wrt yaw rate)
Clr	Cellr	dCl/dr (roll moment slope wrt yaw rate)
Cmr	Cemr	dCm/dr (pitching moment slope wrt yaw rate)
Cnr	Cenr	dCn/dr (yaw moment slope wrt yaw rate)

Furthermore, every control surface also has six own parameters, which are also derived from this log file. {i} below ranges from 1 to the number of unique control surface types in the model.

Name in AVL	Name in Advanced Lift Drag Plugin	描述
CXd	CD_ctrl	Effect of the control surface's deflection on drag
CYd	CY_ctrl	Effect of the control surface's deflection on side force
CZd	CL_ctrl	Effect of the control surface's deflection on lift
Cld	Cell_ctrl	Effect of the control surface's deflection on roll moment
Cmd	Cem_ctrl	Effect of the control surface's deflection on pitching moment
Cnd	Cen_ctrl	Effect of the control surface's deflection on yaw moment