def __init__(self, xf, actvect=[], include_spring=True, \
beamparams=None):
k = xf[-1]#default should be 45.0
c_beam = xf[-4]
if beamparams is None:
beamparams = calc_beam_props()
beamparams['mu'] = beamparams['mu']*xf[-3]
system_w_beam.__init__(self, beamparams, c=c_beam)
self.clamp_spring = TorsionalSpringDamper({'k':k,'c':0}, \
maxsize=ms)
self.spring = TorsionalSpringDamper({'k':xf[0],'c':xf[1]}, \
maxsize=ms,symname='Usp', \
symlabel='sp', \
unknownparams=['k','c'])
if actvect:#an empty actvect means the actuator is unknown
self.avs = AngularVelocitySource({'K':actvect[0], \
'tau':actvect[1]}, \
maxsize=ms, \
symname='Uact', \
symlabel='act')
ind=2
else:
self.avs = AngularVelocitySource({'K':xf[2],'tau':xf[3]}, \
maxsize=ms, \
symname='Uact', \
symlabel='act', \
unknownparams=['K','tau'])
ind=4
#self.accel_tip = accel_mass()#a rigid mass at the tip of the beam
#end_ind = self.accel_tip
end_ind = self.beam
bodeout1={'input':'v', 'output':'atip', 'type':'abs', \
'ind':end_ind, 'post':'accel', 'dof':0, \
'gain':xf[-2],'gainknown':False}
if include_spring:
b2_ind = self.spring
my_list = [self.avs, self.spring, self.clamp_spring, \
self.beam]#, self.accel_tip]
else:
b2_ind = self.avs
my_list = [self.avs, self.beam, self.accel_tip]
bodeout2={'input':'v', 'output':'th', 'type':'abs', \
'ind':b2_ind, 'post':'', 'dof':1, \
'gain':180.0/pi*1024.0/360.0}
self.bodeout1=bodeout(**bodeout1)
self.bodeout2=bodeout(**bodeout2)
return TMM.TMMSystem.ClampedFreeTMMSystem.__init__(self,
my_list, \
bodeouts=[self.bodeout1, self.bodeout2])
def _create_bode_outs(self):
"""Note that self.list and self.b2_ind must be defined before
self._create_bode_outs is called. self.b2_ind is the index of
the element just before the encoder measurement. If the
actuator is rigid, self.b2_ind should probably be set to
self.avs. If there is flexibility in the actuator,
self.b2_ind should probaby be set to the torsional
spring/damper following the avs."""
self._set_accel_ind()
a_gain = self.params.a_gain
bodeout1={'input':'v', 'output':'a', 'type':'abs', \
'ind':self.accel_ind, 'post':'accel', 'dof':0, \
'gain':a_gain,'gainknown':False}
bodeout2={'input':'v', 'output':'theta', 'type':'abs', \
'ind':self.b2_ind, 'post':'', 'dof':1, \
'gain':180.0/pi*1024.0/360.0}
self.bodeout1=bodeout(**bodeout1)
self.bodeout2=bodeout(**bodeout2)
def __init__(self, xf, actvect=[], include_spring=True):
t = xf[-1]
A = w*t
I = 1.0/12*w*t**3
mu = A*rho
EI = E*I
self.spring = TorsionalSpringDamper({'k':xf[0],'c':xf[1]}, \
maxsize=ms,symname='Usp', \
symlabel='sp', \
unknownparams=['k','c'])
self.beam = SLFRBeam(beamparams={'EI':EI, 'L':L, 'mu':mu})
if actvect:#an empty actvect means the actuator is unknown
self.avs = AngularVelocitySource({'K':actvect[0], \
'tau':actvect[1]}, \
maxsize=ms, \
symname='Uact', \
symlabel='act')
ind=2
else:
self.avs = AngularVelocitySource({'K':xf[2],'tau':xf[3]}, \
maxsize=ms, \
symname='Uact', \
symlabel='act', \
unknownparams=['K','tau'])
ind=4
self.accel_tip = accel_mass()#a rigid mass at the tip of the beam
bodeout1={'input':'v', 'output':'atip', 'type':'abs', \
'ind':self.accel_tip, 'post':'accel', 'dof':0, \
'gain':xf[-2],'gainknown':False}
if include_spring:
b2_ind = self.spring
my_list = [self.avs, self.spring, self.beam, self.accel_tip]
else:
b2_ind = self.avs
my_list = [self.avs, self.beam, self.accel_tip]
bodeout2={'input':'v', 'output':'th', 'type':'abs', \
'ind':b2_ind, 'post':'', 'dof':1, \
'gain':180.0/pi*1024.0/360.0}
self.bodeout1=bodeout(**bodeout1)
self.bodeout2=bodeout(**bodeout2)
return TMM.TMMSystem.ClampedFreeTMMSystem.__init__(self,
my_list, \
bodeouts=[self.bodeout1, self.bodeout2])
def __init__(self, K, tau, a_gain, beamparams=None, c=0.0):
system_w_beam.__init__(self, beamparams, c=c)
self.avs = AngularVelocitySource({'K':K,'tau':tau}, \
maxsize=ms, \
symname='Uact', \
symlabel='act', \
unknownparams=['K','tau'])
bodeout1={'input':'v', 'output':'atip', 'type':'abs', \
'ind':self.beam, 'post':'accel', 'dof':0, \
'gain':a_gain,'gainknown':False}
bodeout2={'input':'v', 'output':'th', 'type':'abs', \
'ind':self.avs, 'post':'', 'dof':1, \
'gain':180.0/pi*1024.0/360.0}
self.bodeout1=bodeout(**bodeout1)
self.bodeout2=bodeout(**bodeout2)
my_list = [self.avs, self.beam]
return TMM.TMMSystem.ClampedFreeTMMSystem.__init__(self,
my_list, \
bodeouts=[self.bodeout1, self.bodeout2])
def __init__(self, K, tau):
self.avs=AngularVelocitySource({'K':K,'tau':tau}, \
maxsize=ms, \
symname='Uact', \
symlabel='act', \
unknownparams=['K','tau'])
bodeout1 = {'input':'v', 'output':'th', 'type':'abs', \
'ind':self.avs, 'post':'', 'dof':1, \
'gain':180.0/pi*1024.0/360.0}
self.bodeout1 = bodeout(**bodeout1)
return TMM.TMMSystem.ClampedFreeTMMSystem.__init__(self,
[self.avs],
bodeouts=[self.bodeout1])