def exercise1():
""" Exercise 1 """
pylog.info("Executing Lab 4 : Exercise 1")
pendulum = PendulumSystem()
pendulum.parameters = PendulumParameters()
pylog.info(
"Find more information about Pendulum Parameters in SystemParameters.py"
)
pylog.info("Executing Lab 4 : Exercise 1")
# Initialize a new pendulum system with default parameters
pendulum = PendulumSystem()
pendulum.parameters = PendulumParameters()
pylog.info(
"Find more information about Pendulum Parameters in SystemParameters.py"
)
# To change a parameter you could so by,
# >>> pendulum.parameters.L = 1.5
# The above line changes the length of the pendulum
# You can instantiate multiple pendulum models with different parameters
# For example,
"""
>>> pendulum_1 = PendulumSystem()
>>> pendulum_1.parameters = PendulumParameters()
>>> pendulum_1.parameters.L = 0.5
>>> parameters_2 = PendulumParameters()
>>> parameters_2.L = 0.5
>>> pendulum_2 = PendulumSystem(paramters=parameters_2)
"""
# Above examples shows how to create two istances of the pendulum
# and changing the different parameters using two different approaches
pylog.warning("Loading default pendulum pendulum.parameters")
pylog.info(pendulum.parameters.showParameters())
# Simulation Parameters
t_start = 0.0
t_stop = 10.0
dt = 0.01
pylog.warning("Using large time step dt={}".format(dt))
time = np.arange(t_start, t_stop, dt)
x0 = [0.5, 0.0]
res = integrate(pendulum_integration, x0, time, args=(pendulum, ))
pylog.info("Instructions for applying pertubations")
# Use pendulum_perturbation method to apply pertubations
# Define the pertubations inside the function pendulum_perturbation
# res = integrate(pendulum_perturbation, x0, time, args=(pendulum,))
res.plot_state("State")
res.plot_phase("Phase")
# To animate the model, use the SystemAnimation class
# Pass the res(states) and systems you wish to animate
simulation1 = SystemAnimation(res, pendulum, handler="Pendulum animation")
simulation2 = SystemAnimation(res,
pendulum,
handler="Pendulum animation 2")
# If you want to disable the parameters in the animation plot
# simulation2 = SystemAnimation(res, pendulum, handler="Pendulum animation 2", show_parameters=False)
# To start the animation, use either simulation.animate() or plt.show()
# simulation.animate()
if DEFAULT["save_figures"] is False:
plt.show()
return
def exercise1():
""" Exercise 1 """
pylog.info("Executing Lab 4 : Exercise 1")
pendulum = PendulumSystem()
pendulum.parameters = PendulumParameters()
pylog.info(
"Find more information about Pendulum Parameters in SystemParameters.py")
pylog.info("Executing Lab 4 : Exercise 1")
# Initialize a new pendulum system with default parameters
pendulum = PendulumSystem()
pendulum.parameters = PendulumParameters()
pylog.info(
"Find more information about Pendulum Parameters in SystemParameters.py")
# To change a parameter you could so by,
# >>> pendulum.parameters.L = 1.5
# The above line changes the length of the pendulum
# You can instantiate multiple pendulum models with different parameters
# For example,
"""
>>> pendulum_1 = PendulumSystem()
>>> pendulum_1.parameters = PendulumParameters()
>>> pendulum_1.parameters.L = 0.5
>>> parameters_2 = PendulumParameters()
>>> parameters_2.L = 0.5
>>> pendulum_2 = PendulumSystem(paramters=parameters_2)
"""
# Above examples shows how to create two istances of the pendulum
# and changing the different parameters using two different approaches
pendulum.parameters.k1 = 50
pendulum.parameters.k2 = 50
pendulum.parameters.s_theta_ref1 = 1.0
pendulum.parameters.s_theta_ref2 = 1.0
pendulum.parameters.b1 = 0.5
pendulum.parameters.b2 = 0.5
pylog.warning("Loading default pendulum pendulum.parameters")
pylog.info(pendulum.parameters.showParameters())
# Simulation Parameters
t_start = 0.0
t_stop = 10.0
dt = 0.01
pylog.warning("Using large time step dt={}".format(dt))
time = np.arange(t_start, t_stop, dt)
x0 = [0.5, 0.0]
res = integrate(pendulum_integration, x0, time, args=(pendulum,))
pylog.info("Instructions for applying pertubations")
# Use pendulum_perturbation method to apply pertubations
# Define the pertubations inside the function pendulum_perturbation
# res = integrate(pendulum_perturbation, x0, time, args=(pendulum,))
res.plot_state("State")
res.plot_phase("Phase")
x0 = [0.5, 0.1]
pendulum_limit_cycle(x0, time, pendulum)
pendulum_spring_constant(x0, time, pendulum)
pendulum_spring_reference(x0, time, pendulum)
pendulum_spring_damper(x0, time, pendulum)
pendulum_set_position(x0, time, pendulum)
if DEFAULT["save_figures"] is False:
plt.show()
return