def __init__(self, settings):
# conversion from degree to radiant
settings['initial state'][
2:] = settings['initial state'][2:] * np.pi / 180
# add specific "private" settings
settings.update(state_count=6)
settings.update(input_count=1)
Model.__init__(self, settings)
# shortcuts for readability
self.d0 = self._settings['d0']
self.d1 = self._settings['d1']
self.d2 = self._settings['d2']
self.g = self._settings['g']
self.l1 = self._settings['J_DP1'] / (self._settings['m1*'] *
self._settings['l1*'])
self.l2 = self._settings['J_DP2'] / (self._settings['m2*'] *
self._settings['l2*'])
self.m1 = (self._settings['m1*'] *
self._settings['l1*'])**2 / self._settings['J_DP1']
self.m2 = (self._settings['m2*'] *
self._settings['l2*'])**2 / self._settings['J_DP2']
self.m0 = self._settings['m0*'] + (self._settings['m1*'] - self.m1) + (
self._settings['m2*'] - self.m2)
def __init__(self, settings):
# add specific "private" settings
settings.update(state_count=4)
settings.update(input_count=1)
Model.__init__(self, settings)
# shortcuts for readability
self.d_B = self._settings['d_B']
self.d_n = self._settings['d_n']
self.d_p = self._settings['d_p']
self.d = self.d_p
self.d_R = self._settings['d_R']
self.k_L = self._settings['k_L']
self.k_s = self._settings['k_s']
self.k_V = self._settings['k_V']
self.m = self._settings['m']
self.T_n = self._settings['T_n']
self.T_p = self._settings['T_p']
self.T = self.T_p
self.g = self._settings['g']
self.K = self._settings['K']
self.D = self._settings['D']
self.tube_length = self._settings['tube_length']
self.A_B = np.pi*self.d_B**2/4
self.A_R = np.pi*self.d_R**2/4
self.A_Sp = self.A_R - self.A_B
def __init__(self, settings):
# add specific "private" settings
settings.update(state_count=4)
settings.update(input_count=1)
Model.__init__(self, settings)
# shortcuts for readability
self.d_B = self._settings['d_B']
self.d_n = self._settings['d_n']
self.d_p = self._settings['d_p']
self.d = self.d_p
self.d_R = self._settings['d_R']
self.k_L = self._settings['k_L']
self.k_s = self._settings['k_s']
self.k_V = self._settings['k_V']
self.m = self._settings['m']
self.T_n = self._settings['T_n']
self.T_p = self._settings['T_p']
self.T = self.T_p
self.g = self._settings['g']
self.K = self._settings['K']
self.D = self._settings['D']
self.tube_length = self._settings['tube_length']
self.A_B = np.pi * self.d_B**2 / 4
self.A_R = np.pi * self.d_R**2 / 4
self.A_Sp = self.A_R - self.A_B
def __init__(self, settings):
# add specific "private" settings
settings.update(state_count=4)
settings.update(input_count=1)
Model.__init__(self, settings)
# shortcuts for readability
self.M = self._settings['M']
self.R = self._settings['R']
self.J = self._settings['J']
self.Jb = self._settings['Jb']
self.G = self._settings['G']
self.B = self.M / (self.Jb / self.R**2 + self.M)
def __init__(self, settings):
# add specific "private" settings
settings.update(state_count=4)
settings.update(input_count=1)
Model.__init__(self, settings)
# shortcuts for readability
self.M = self._settings['M']
self.R = self._settings['R']
self.J = self._settings['J']
self.Jb = self._settings['Jb']
self.G = self._settings['G']
self.B = self.M / (self.Jb / self.R ** 2 + self.M)
def __init__(self, settings):
# conversion from degree to radiant
settings['initial state'][2:] = settings['initial state'][2:]*np.pi/180
# add specific "private" settings
settings.update(state_count=6)
settings.update(input_count=1)
Model.__init__(self, settings)
# shortcuts for readability
self.d0 = self._settings['d0']
self.d1 = self._settings['d1']
self.d2 = self._settings['d2']
self.g = self._settings['g']
self.l1 = self._settings['J_DP1']/(self._settings['m1*']*self._settings['l1*'])
self.l2 = self._settings['J_DP2']/(self._settings['m2*']*self._settings['l2*'])
self.m1 = (self._settings['m1*']*self._settings['l1*'])**2/self._settings['J_DP1']
self.m2 = (self._settings['m2*']*self._settings['l2*'])**2/self._settings['J_DP2']
self.m0 = self._settings['m0*'] + (self._settings['m1*'] - self.m1) + (self._settings['m2*'] - self.m2)
