import sys
import os
import numpy as np
import pandas as pd
from uraeus.nmbd.python import configuration
json_file = os.path.abspath(
'../symenv/templates/double_wishbone_bellcrank/data/double_wishbone_bellcrank_cfg.json'
)
AX2_config = configuration('rear_axle')
AX2_config.construct_from_json(json_file)
# =============================================================================
# Numerical Data
# =============================================================================
# Tire Radius
TR = 254
# Wheel Base
WB = 1600
# Upper Control Arms
AX2_config.hpr_ucaf.flat[:] = [-60 + WB, 250, 52 + TR]
AX2_config.hpr_ucar.flat[:] = [-247 + WB, 276, 25 + TR]
AX2_config.hpr_ucao.flat[:] = [0 + WB, 462, 90 + TR]
# Lower Control Arms
AX2_config.hpr_lcaf.flat[:] = [-60 + WB, 250, -84 + TR]
numdata_dir = os.path.join(project_dir, 'numenv/python/src/')
results_dir = os.path.join(project_dir, 'simenv/results/')
# ================================================================== #
# Initializations
# ================================================================== #
# TODO : User Declared
model_name = 'tchebycheff'
# getting the configuration .json file
# TODO : User Declared
config_file = os.path.join(symdata_dir, 'tchebycheff_cfg.json')
# Creating a numerical configuration instance
num_config = configuration('base')
# constructing the numerical configuration instance from
# imported JSON file
num_config.construct_from_json(config_file)
# Getting the numrical topology module
model = import_source(numdata_dir, model_name)
# Creating the numerical model from the imported module
num_model = multibody_system(model)
# Assigning this configuration instance to the numerical model
num_model.topology.config = num_config
# ================================================================== #
# Numerical Configuration of the System
# ================================================================== #
import sys
import os
import numpy as np
import pandas as pd
from uraeus.nmbd.python import configuration
json_file = os.path.abspath(
'../symenv/templates/rack_steering/data/rack_steering_cfg.json')
ST1_config = configuration('front_steer')
ST1_config.construct_from_json(json_file)
# =============================================================================
# Numerical Data
# =============================================================================
# Tire Radius
TR = 254
ST1_config.hpr_rack_end.flat[:] = [-122, 227, -122 + TR]
ST1_config.vcs_y.flat[:] = [0, 1, 0]
ST1_config.s_rack_radius = 12
# Loading data into the configuration instance
ST1_config.assemble()
ST1_config.export_json('config_inputs', 'ST1')
import sys
import os
import numpy as np
import pandas as pd
from uraeus.nmbd.python import configuration
json_file = os.path.abspath(
'../symenv/templates/drive_shafts_v2/data/drive_shafts_v2_cfg.json')
DR2_config = configuration('DR2_v2')
DR2_config.construct_from_json(json_file)
# =============================================================================
# Numerical Data
# =============================================================================
# Wheel Base
WB = 1600
TR = 254
DR2_config.hpr_diff_input.flat[:] = [WB - 40, 50, TR + 20]
DR2_config.hpr_inner_cv.flat[:] = [WB - 40, 100, TR + 20]
DR2_config.hpr_outer_cv.flat[:] = [WB, 525 - 100, TR]
# Helpers
DR2_config.vcs_x.flat[:] = [1, 0, 0]
DR2_config.vcs_y.flat[:] = [0, 1, 0]
DR2_config.vcs_z.flat[:] = [0, 0, 1]
DR2_config.s_shafts_radius = 15
import sys
import os
import numpy as np
import pandas as pd
from uraeus.nmbd.python import configuration
json_file = os.path.abspath(
'../symenv/templates/double_wishbone_bellcrank/data/double_wishbone_bellcrank_cfg.json'
)
AX1_config = configuration('front_axle')
AX1_config.construct_from_json(json_file)
# =============================================================================
# Numerical Data
# =============================================================================
# Tire Radius
TR = 254
# Upper Control Arms
AX1_config.hpr_ucaf.flat[:] = [-235, 213, 89 + TR]
AX1_config.hpr_ucar.flat[:] = [170, 262, 61 + TR]
AX1_config.hpr_ucao.flat[:] = [7, 466, 80 + TR]
# Lower Control Arms
AX1_config.hpr_lcaf.flat[:] = [-235, 213, -90 + TR]
AX1_config.hpr_lcar.flat[:] = [170, 262, -62 + TR]
AX1_config.hpr_lcao.flat[:] = [-7, 483, -80 + TR]
import sys
import os
import numpy as np
import pandas as pd
from uraeus.nmbd.python import configuration
json_file = os.path.abspath(
'../symenv/templates/chassis/data/chassis_cfg.json')
CH_config = configuration('chassis')
CH_config.construct_from_json(json_file)
# =============================================================================
# Numerical Data
# =============================================================================
# Wheel Base
WB = 1600
CH_config.hps_CG.flat[:] = [WB / 2, 0, 300]
CH_config.s_CG_radius = 80
# Loading data into the configuration instance
CH_config.assemble()
CH_config.m_rbs_chassis = 250 * 1e3
CH_config.Jbar_rbs_chassis = np.array([[120 * 1e9, 0, 0], [0, 150 * 1e9, 0],
[0, 0, 150 * 1e9]])
import sys
import os
import numpy as np
import pandas as pd
from uraeus.nmbd.python import configuration
json_file = os.path.abspath(
'../symenv/templates/drive_shafts_v1/data/drive_shafts_v1_cfg.json')
DR2_config = configuration('DR2_v1')
DR2_config.construct_from_json(json_file)
# =============================================================================
# Numerical Data
# =============================================================================
# Wheel Base
WB = 1600
TR = 254
DR2_config.hpr_diff_input.flat[:] = [WB - 0, 50, TR + 20]
DR2_config.hpr_inner_cv.flat[:] = [WB - 0, 100, TR + 20]
DR2_config.hpr_outer_cv.flat[:] = [WB, 525 - 100, TR]
# Helpers
DR2_config.vcs_x.flat[:] = [1, 0, 0]
DR2_config.vcs_y.flat[:] = [0, 1, 0]
DR2_config.vcs_z.flat[:] = [0, 0, 1]
DR2_config.s_shafts_radius = 15
