velocity_init = -.1 # initial velocity
epsilon = 0.5#1e-1
theta = 1/2.0 + epsilon # theta for MoreauJeanOSI integrator
#theta = 1.0
E = 210e9 # young Modulus
S = 0.000314 # Beam Section 1 cm for the diameter
#S=0.1
L = 1.0 # length of the beam
l = L/nDof # length of an element
rho = 7800.0 # specific mass
#rho=1.0
g = 9.81 # Gravity
g=0.0
M= SimpleMatrix(nDof,nDof,SPARSE,nDof)
K= SimpleMatrix(nDof,nDof,SPARSE,nDof)
K.setValue(0,0, 1.*E*S/l)
K.setValue(0,1,-1.*E*S/l)
M.setValue(0,0, 1/3.*rho*S*l)
M.setValue(0,1, 1/6.*rho*S*l)
for i in range(1,nDof-1):
K.setValue(i,i,2.*E*S/l)
K.setValue(i,i-1,-1.*E*S/l)
K.setValue(i,i+1,-1.*E*S/l)
M.setValue(i,i,2/3.*rho*S*l)
M.setValue(i,i-1,1/6.*rho*S*l)
M.setValue(i,i+1,1/6.*rho*S*l)
# diode R1 current
dataPlot[k, 3] = y[0]
# diode R1 voltage
dataPlot[k, 4] = -lambda_[0]
# diode F2 voltage
dataPlot[k, 5] = -lambda_[1]
# diode F1 current
dataPlot[k, 6] = lambda_[2]
k += 1
aTS.nextStep()
# comparison with reference file
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix("DiodeBridge.ref"))
error = norm(dataPlot[:, 0:6] - ref[:, 0:6])
print("error = ", error)
#assert (error < 1e-09)
withRef = True
if (withPlot):
#
# plots
#
subplot(411)
title('inductor voltage')
plot(dataPlot[0:k - 1, 0], dataPlot[0:k - 1, 1])
if (withRef):
plot(ref[0:k - 1, 0], ref[0:k - 1, 1])
dataPlot[k, 0] = s.nextTime()
dataPlot[k, 1] = q[0]
dataPlot[k, 2] = v[0]
dataPlot[k, 3] = p[0]
dataPlot[k, 4] = lambda_[0]
k += 1
s.nextStep()
#
# comparison with the reference file
#
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix("result.ref"))
if (norm(dataPlot - ref) > 1e-12):
print("Warning. The result is rather different from the reference file.")
#
# plots
#
import matplotlib,os
havedisplay = "DISPLAY" in os.environ
if not havedisplay:
matplotlib.use('Agg')
import matplotlib.pyplot as plt
plt.subplot(411)
def test_bouncing_ball1():
from siconos.kernel import LagrangianLinearTIDS, NewtonImpactNSL, \
LagrangianLinearTIR, Interaction, Model, MoreauJeanOSI, TimeDiscretisation, LCP, TimeStepping
from numpy import array, eye, empty
t0 = 0 # start time
T = 10 # end time
h = 0.005 # time step
r = 0.1 # ball radius
g = 9.81 # gravity
m = 1 # ball mass
e = 0.9 # restitution coeficient
theta = 0.5 # theta scheme
#
# dynamical system
#
x = array([1, 0, 0]) # initial position
v = array([0, 0, 0]) # initial velocity
mass = eye(3) # mass matrix
mass[2, 2] = 3./5 * r * r
# the dynamical system
ball = LagrangianLinearTIDS(x, v, mass)
# set external forces
weight = array([-m * g, 0, 0])
ball.setFExtPtr(weight)
#
# Interactions
#
# ball-floor
H = array([[1, 0, 0]])
nslaw = NewtonImpactNSL(e)
relation = LagrangianLinearTIR(H)
inter = Interaction(1, nslaw, relation)
#
# Model
#
bouncingBall = Model(t0, T)
# add the dynamical system to the non smooth dynamical system
bouncingBall.nonSmoothDynamicalSystem().insertDynamicalSystem(ball)
# link the interaction and the dynamical system
bouncingBall.nonSmoothDynamicalSystem().link(inter, ball)
#
# Simulation
#
# (1) OneStepIntegrators
OSI = MoreauJeanOSI(theta)
OSI.insertDynamicalSystem(ball)
# (2) Time discretisation --
t = TimeDiscretisation(t0, h)
# (3) one step non smooth problem
osnspb = LCP()
# (4) Simulation setup with (1) (2) (3)
s = TimeStepping(t)
s.insertIntegrator(OSI)
s.insertNonSmoothProblem(osnspb)
# end of model definition
#
# computation
#
# simulation initialization
bouncingBall.initialize(s)
#
# save and load data from xml and .dat
#
try:
from siconos.io import save
save(bouncingBall, "bouncingBall.xml")
save(bouncingBall, "bouncingBall.bin")
except:
print("Warning : could not import save from siconos.io")
# the number of time steps
N = (T-t0)/h+1
# Get the values to be plotted
# ->saved in a matrix dataPlot
dataPlot = empty((N, 5))
#
# numpy pointers on dense Siconos vectors
#
q = ball.q()
v = ball.velocity()
p = ball.p(1)
lambda_ = inter.lambda_(1)
#
# initial data
#
dataPlot[0, 0] = t0
dataPlot[0, 1] = q[0]
dataPlot[0, 2] = v[0]
dataPlot[0, 3] = p[0]
dataPlot[0, 4] = lambda_[0]
k = 1
# time loop
while(s.hasNextEvent()):
s.computeOneStep()
dataPlot[k, 0] = s.nextTime()
dataPlot[k, 1] = q[0]
dataPlot[k, 2] = v[0]
dataPlot[k, 3] = p[0]
dataPlot[k, 4] = lambda_[0]
k += 1
#print(s.nextTime())
s.nextStep()
#
# comparison with the reference file
#
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix(os.path.join(working_dir, "data/result.ref")))
assert (norm(dataPlot - ref) < 1e-12)
index1 = sk.interactions(simulation.indexSet(1))
if (len(index1) == 4):
dataPlot[k, 3] = norm(index1[0].lambda_(1)) + \
norm(index1[1].lambda_(1)) + norm(index1[2].lambda_(1)) + \
norm(index1[3].lambda_(1))
k += 1
simulation.nextStep()
#
# comparison with the reference file
#
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix("result_dynamic.ref"))
print("norm(dataPlot - ref) = {0}".format(norm(dataPlot - ref)))
if (norm(dataPlot - ref) > 1e-11):
print("Warning. The result is rather different from the reference file.")
#
# plots
#
if do_plot:
subplot(511)
title('position')
plot(dataPlot[0:k, 0], dataPlot[0:k, 1])
y = ylim()
plot(ref[0:k, 0], ref[0:k, 1])
TimeDiscretisation, LCP, TimeStepping
from siconos.kernel import SimpleMatrix, getMatrix, SPARSE #, SPARSE_COORDINATE
print(' -- create mass and stiffness matrix in Siconos -- ')
n_dof = mass_mat_np.shape[0]
print('n_dof=', n_dof)
# M= SimpleMatrix(n_dof,n_dof,SPARSE_COORDINATE,n_dof)
# K= SimpleMatrix(n_dof,n_dof,SPARSE_COORDINATE,n_dof)
#M= SimpleMatrix(n_dof,n_dof,SPARSE,n_dof)
#K= SimpleMatrix(n_dof,n_dof,SPARSE,n_dof)
M = SimpleMatrix(n_dof, n_dof)
K = SimpleMatrix(n_dof, n_dof)
#input()
#nnz=0
# for i in range(n_dof):
# idx = np.where(stiffness_mat_np[i,:]>=1e-14)
# for j in idx[0]:
# K.setValue(i,j,stiffness_mat_np[i,j])
# idx = np.where(mass_mat_np[i,:]>=1e-14)
# nnz = nnz + len(idx[0])
# for j in idx[0]:
# M.setValue(i,j,mass_mat_np[i,j])
# nnz=0
# Run simulation
sim.run()
# Get data
dataPlot = sim.data()
# Save to disk
savetxt('SMCExampleImplicitOT2-noCplugin-py.dat', dataPlot)
# Plot interesting data
subplot(411)
title('x1')
plot(dataPlot[:, 0], dataPlot[:, 1])
grid()
subplot(412)
title('x2')
plot(dataPlot[:, 0], dataPlot[:, 2])
grid()
subplot(413)
title('u')
plot(dataPlot[:, 0], dataPlot[:, 3])
grid()
savefig('ismcOT2-noCplugin.png')
# compare with the reference
ref = getMatrix(SimpleMatrix("SMCExampleImplicitOT2-py.ref"))
print("%e" % norm(dataPlot - ref))
if (norm(dataPlot - ref) > 1e-12):
print(dataPlot - ref)
print("Warning. The result is rather different from the reference file.")
# diode R1 current
dataPlot[k, 3] = lambda_[0]
# diode R1 voltage
dataPlot[k, 4] = -y[0]
# diode F2 voltage
dataPlot[k, 5] = -lambda_[1]
# diode F1 current
dataPlot[k, 6] = lambda_[2]
k += 1
aTS.nextStep()
# comparison with reference file
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix("DiodeBridgeCapFilter.ref"))
error = norm(dataPlot[:, 0:4] - ref[:, 0:4])
print("error = ", error)
assert (error < 1e-09)
withRef = False
if (withPlot):
#
# plots
#
subplot(411)
title('inductor voltage')
plot(dataPlot[0:k - 1, 0], dataPlot[0:k - 1, 1])
if (withRef):
plot(ref[0:k - 1, 0], ref[0:k - 1, 1])
while s.hasNextEvent():
s.computeOneStep()
dataPlot[k, 0] = s.nextTime()
dataPlot[k, 1] = q[0]
dataPlot[k, 2] = v[0]
dataPlot[k, 3] = p[0]
dataPlot[k, 4] = lambda_[0]
k += 1
s.nextStep()
#
# comparison with the reference file
#
ref = getMatrix(SimpleMatrix("BouncingBallTS.ref"))
if (norm(dataPlot - ref) > 1e-12):
print("Warning. The result is rather different from the reference file.")
print(norm(dataPlot - ref))
#
# plots
#
havedisplay = "DISPLAY" in os.environ
if not havedisplay:
matplotlib.use('Agg')
plt.subplot(411)
plt.title('position')
plt.plot(dataPlot[:, 0], dataPlot[:, 1])
def test_diode_bridge():
"""Build diode bridge model"""
# dynamical system
bridge_ds = FirstOrderLinearDS(init_state, A)
# interaction
diode_bridge_relation = FirstOrderLinearTIR(C, B)
diode_bridge_relation.setDPtr(D)
nslaw = ComplementarityConditionNSL(4)
bridge_interaction = Interaction(4, nslaw, diode_bridge_relation, 1)
# Model
diode_bridge = Model(t0, total_time, model_title)
# add the dynamical system in the non smooth dynamical system
diode_bridge.nonSmoothDynamicalSystem().insertDynamicalSystem(bridge_ds)
# link the interaction and the dynamical system
diode_bridge.nonSmoothDynamicalSystem().link(bridge_interaction, bridge_ds)
# Simulation
# (1) OneStepIntegrators
theta = 0.5
integrator = EulerMoreauOSI(theta)
integrator.insertDynamicalSystem(bridge_ds)
# (2) Time discretisation
time_discretisation = TimeDiscretisation(t0, time_step)
# (3) Non smooth problem
non_smooth_problem = LCP()
# (4) Simulation setup with (1) (2) (3)
bridge_simulation = TimeStepping(time_discretisation, integrator,
non_smooth_problem)
# simulation initialization
diode_bridge.initialize(bridge_simulation)
k = 0
h = bridge_simulation.timeStep()
# Number of time steps
N = (total_time - t0) / h
# Get the values to be plotted
# ->saved in a matrix dataPlot
data_plot = empty([N, 8])
x = bridge_ds.x()
print("Initial state : ", x)
y = bridge_interaction.y(0)
print("First y : ", y)
lambda_ = bridge_interaction.lambda_(0)
# For the initial time step:
# time
data_plot[k, 0] = t0
# inductor voltage
data_plot[k, 1] = x[0]
# inductor current
data_plot[k, 2] = x[1]
# diode R1 current
data_plot[k, 3] = y[0]
# diode R1 voltage
data_plot[k, 4] = -lambda_[0]
# diode F2 voltage
data_plot[k, 5] = -lambda_[1]
# diode F1 current
data_plot[k, 6] = lambda_[2]
# resistor current
data_plot[k, 7] = y[0] + lambda_[2]
k += 1
while k < N:
bridge_simulation.computeOneStep()
#non_smooth_problem.display()
data_plot[k, 0] = bridge_simulation.nextTime()
# inductor voltage
data_plot[k, 1] = x[0]
# inductor current
data_plot[k, 2] = x[1]
# diode R1 current
data_plot[k, 3] = y[0]
# diode R1 voltage
data_plot[k, 4] = -lambda_[0]
# diode F2 voltage
data_plot[k, 5] = -lambda_[1]
# diode F1 current
data_plot[k, 6] = lambda_[2]
# resistor current
data_plot[k, 7] = y[0] + lambda_[2]
k += 1
bridge_simulation.nextStep()
#
# comparison with the reference file
#
ref = getMatrix(
SimpleMatrix(os.path.join(working_dir, "data/diode_bridge.ref")))
assert norm(data_plot - ref) < 1e-12
return ref, data_plot
# inductor voltage
dataPlot[k, 1] = x[0]
# inductor current
dataPlot[k, 2] = x[1]
# diode voltage
dataPlot[k, 3] = -y[0]
# diode current
dataPlot[k, 4] = lambda_[0]
k += 1
aTS.nextStep()
# comparison with reference file
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix("CircuitRLCD.ref"))
assert (norm(dataPlot - ref) < 1e-10)
if (withPlot):
#
# plots
#
subplot(411)
title('inductor voltage')
plot(dataPlot[0:k - 1, 0], dataPlot[0:k - 1, 1])
grid()
subplot(412)
title('inductor current')
plot(dataPlot[0:k - 1, 0], dataPlot[0:k - 1, 2])
grid()
dataPlot[k, 10] = q[3]
dataPlot[k, 11] = q[4]
dataPlot[k, 12] = q[5]
dataPlot[k, 13] = q[6]
dataPlot[k, 14] = v[1]
dataPlot[k, 15] = v[2]
k = k + 1
s.nextStep()
savetxt("result-py.dat", dataPlot)
#
# comparison with the reference file
#
from siconos.kernel import SimpleMatrix, getMatrix
ref = getMatrix(SimpleMatrix("resultNETS.ref"))
err = linalg.norm(dataPlot - ref)
print("error w.r.t reference file =", err)
if (err > 1e-12):
print("Warning. The result is rather different from the reference file.")
#
# plots
#
from matplotlib.pyplot import subplot, title, plot, grid, show
subplot(411)
title('position')
plot(dataPlot[:, 0], dataPlot[:, 1])
grid()