myProcessRelation = sk.FirstOrderLinearR(C, B)
myProcessRelation.setComputeEFunction('plugins', 'computeE')
# myProcessRelation.setDPtr(D)
myProcessInteraction = sk.Interaction(myNslaw, myProcessRelation)
# NSDS
simplerelay = sk.NonSmoothDynamicalSystem(t0, T)
simplerelay.insertDynamicalSystem(process)
simplerelay.link(myProcessInteraction, process)
# myProcessRelation.computeJachx(0, x0, x0 , x0, C)
# Simulation
s = sk.TimeStepping(simplerelay, sk.TimeDiscretisation(t0, h),
sk.EulerMoreauOSI(theta), sk.Relay())
# s.setComputeResiduY(True)
# s.setComputeResiduR(True)
# matrix to save data
dataPlot = np.empty((N + 1, 7))
k = 0
dataPlot[k, 0] = t0
dataPlot[k, 1:3] = process.x()
dataPlot[k, 3] = myProcessInteraction.lambda_(0)[0]
dataPlot[k, 4] = myProcessInteraction.lambda_(0)[1]
dataPlot[k, 5] = myProcessInteraction.y(0)[0]
dataPlot[k, 6] = myProcessInteraction.y(0)[1]
# time loop
k = 1
print('start computation')
# Matrix declaration A = zeros((2, 2)) A[0, 1] = 1 B = [[0], [1]] x0 = [10., 10.] C = [[1., 0]] # we have to specify ndmin=2, so it's understood as K = [.25, .125, 2] # Declaration of the Dynamical System doubleIntegrator = sk.FirstOrderLinearTIDS(x0, A) # Model process = sk.Model(t0, T) process.nonSmoothDynamicalSystem().insertDynamicalSystem(doubleIntegrator) # Declaration of the integrator OSI = sk.EulerMoreauOSI(theta) # time discretisation t = sk.TimeDiscretisation(t0, h) tSensor = sk.TimeDiscretisation(t0, h) tActuator = sk.TimeDiscretisation(t0, h) s = sk.TimeStepping(t, 0) s.insertIntegrator(OSI) # Actuator, Sensor & ControlManager control = ControlManager(s) sens = LinearSensor(doubleIntegrator, C) control.addSensorPtr(sens, tSensor) act = PID(sens) act.setB(B) control.addActuatorPtr(act, tActuator)
nslaw = sk.RelayNSL(ninter) particle_interaction = sk.Interaction(nslaw, particle_relation) # -- The Model -- filippov = sk.Model(t0, T) nsds = filippov.nonSmoothDynamicalSystem() nsds.insertDynamicalSystem(particle) nsds.link(particle_interaction, particle) # -- Simulation -- td = sk.TimeDiscretisation(t0, h) simu = sk.TimeStepping(td) # osi theta = 0.5 myIntegrator = sk.EulerMoreauOSI(theta) simu.insertIntegrator(myIntegrator) # osns osnspb = sk.Relay(sn.SICONOS_RELAY_LEMKE) simu.insertNonSmoothProblem(osnspb) filippov.setSimulation(simu) filippov.initialize() # -- Get the values to be plotted -- output_size = 1 + ndof + 2 * ninter nb_time_steps = int((T - t0) / h) + 1 data_plot = np.empty((nb_time_steps, output_size)) data_plot[0, 0] = filippov.t0() data_plot[0, 1:4] = particle.x()
