pO = 0 * N.x
#wNA = N.get_w_to(A)
wNB = N.get_w_to(B)
wNA = G * wNB
aNA = wNA.time_derivative()
#wNB = wB*B.z
#aNB = wB_d*B.z
I_motor = Dyadic.build(B, Im, Im, Im)
I_load = Dyadic.build(B, Il, Il, Il)
#Motor = Body('Motor',A,pO,0,I_motor,system)
Motor = Body('Motor', B, pO, 0, I_motor, system, wNBody=wNA, alNBody=aNA)
Inductor = PseudoParticle(0 * M.x,
L,
name='Inductor',
vCM=i * M.x,
aCM=i_d * M.x)
#Load = Body('Load',B,pO,0,I_load,system,wNBody = wNB,alNBody = aNB)
Load = Body('Load', B, pO, m, I_load, system)
#T = kt*(V/R)-kv*G*qB_d
T = kt * i
system.addforce(T * N.z, wNA)
system.addforce(-b * wNA, wNA)
system.addforce(-Tl * B.z, wNB)
system.addforce((V - i * R - kv * G * qB_d) * M.x, i * M.x)
#import sympy
#ind = sympy.Matrix([wB])
I_motorA = Dyadic.build(MA, Im, Im, Im)
I_motorC = Dyadic.build(MC, Im, Im, Im)
BodyO = Body('BodyO', O, pOcm, mO, Dyadic.build(O, I_main, I_main, I_main),
system)
#BodyA = Body('BodyA',A,pAcm,mA,Dyadic.build(A,I_leg,I_leg,I_leg),system)
#BodyB = Body('BodyB',B,pBcm,mB,Dyadic.build(B,I_leg,I_leg,I_leg),system)
#BodyC = Body('BodyC',C,pCcm,mC,Dyadic.build(C,I_leg,I_leg,I_leg),system)
#BodyD = Body('BodyD',D,pDcm,mD,Dyadic.build(D,I_leg,I_leg,I_leg),system)
MotorA = Body('MotorA', MA, pOA, m_motor, I_motorA, system)
MotorA = Body('MotorC', MC, pOC, m_motor, I_motorC, system)
InductorA = PseudoParticle(0 * MA.x,
L,
name='InductorA',
vCM=iA * MA.x,
aCM=iA_d * MA.x)
InductorC = PseudoParticle(0 * MC.x,
L,
name='InductorC',
vCM=iC * MC.x,
aCM=iC_d * MC.x)
ParticleA = Particle(pAcm, mA, 'ParticleA')
ParticleB = Particle(pBcm, mB, 'ParticleB')
ParticleC = Particle(pCcm, mC, 'ParticleC')
ParticleD = Particle(pDcm, mD, 'ParticleD')
system.addforce(-b * wOA, wOA)
system.addforce(-b * wAB, wAB)