damping_rod_on_plate, damping_1, damping_2, moment
]
fr, frstar = kane.kanes_equations(loads, [Plate, rod])
Mass = kane.mass_matrix_full
f = kane.forcing_full
sys = System(kane)
sys.constants = {
m: mass_of_rod,
M: mass_of_plate,
g: 9.81,
H: workspace_width,
a: plate_width,
b: plate_height,
c: cable_c,
c_rod: rod_c,
k_rod: rod_k,
Izz: inertia_of_plate,
Izz_rod: inertia_of_rod,
}
sys.initial_conditions = {x: x_init, y: y_init, beta: beta_init, e: -rod_init}
sys.specifieds = {
L1: lambda x, t: s_curve(t, L1_init_s, L1_end_s, RiseTime, StartTime),
L2: lambda x, t: s_curve(t, L2_init_s, L2_end_s, RiseTime, StartTime)
}
sys.times = np.linspace(0.0, Simulation_Time, 1000)
sys.generate_ode_function(generator='cython')
y = sys.integrate()
sys.constants = {
I[0]: 1.0,
I[1]: 1.0,
I[2]: 1.0,
I[3]: 1.0,
I[4]: 1.0,
I[5]: 1.0,
L[0]: 0.3,
L[1]: 0.0,
L[2]: 0.5,
L[3]: 0.3,
L[4]: 0.0,
L[5]: 0.5,
L[6]: 0.3,
L[7]: 0.0,
L[8]: 0.6,
L[9]: 0.3,
L[10]: 0.0,
L[11]: 0.6,
L[12]: 0.3,
L[13]: 0.02,
L[14]: 0.5,
L[15]: 0.3,
L[16]: 0.02,
L[17]: 0.5,
L[18]: 0.3,
L[19]: 0.02,
L[20]: 0.6,
L[21]: 0.3,
L[22]: 0.02,
L[23]: 0.6,
L[24]: 0.01,
L[25]: 0.03,
L[26]: 0.02,
L[27]: 0.01,
L[28]: 0.03,
L[29]: 0.02,
L[30]: 0.01,
L[31]: 0.03,
L[32]: 0.02,
L[33]: 0.01,
L[34]: 0.03,
L[35]: 0.02,
L[36]: 0.01,
L[37]: 0.04,
L[38]: 0.02,
L[39]: 0.01,
L[40]: 0.04,
L[41]: 0.02,
L[42]: 0.01,
L[43]: 0.04,
L[44]: 0.02,
L[45]: 0.01,
L[46]: 0.04,
L[47]: 0.02,
Lgr: 0.01,
Lsp: 0.04,
g: 9.81,
k[0]: 100.0,
k[1]: 100.0,
k[2]: 100.0,
k[3]: 50.0,
k[4]: 10.0,
k[5]: 50.0,
ma: 0.2,
mb: 1.0
}
# create a Kane object with respect to the Newtonian reference frame
kane = me.KanesMethod(N,
q_ind=(theta, phi),
u_ind=(omega, alpha),
kd_eqs=kinDiffs)
# calculate Kane's equations
fr, frstar = kane.kanes_equations(loads, bodies)
sys = System(kane)
sys.constants = {
lB: 0.2, # m
h: 0.1, # m
w: 0.2, # m
mA: 0.01, # kg
mB: 0.1, # kg
g: 9.81, # m/s**2
}
sys.initial_conditions = {
theta: np.deg2rad(90.0),
phi: np.deg2rad(0.5),
omega: 0,
alpha: 0
}
sys.times = np.linspace(0, 10, 500)
x = sys.integrate()
Mass = kane.mass_matrix_full
f = kane.forcing_full
plate_width = 4.0
plate_height = 2.0
mass_of_plate = 10.0
rod_length = 3.0
mass_of_rod = 2.0
inertia_of_plate = (plate_width**2 + plate_height**2) * (mass_of_plate/12.0)
sys = System(kane)
sys.constants = {
M:12.0,
g:9.81,
F1:Lengths_and_Moments(inital_x, inital_y)[0],
F2:Lengths_and_Moments(inital_x, inital_y)[1],
H:20.0,
a:4.0,
b:2.0,
Izz:inertia_of_plate,
}
sys.initial_conditions = {x:inital_x, y:inital_y, beta:0}
sys.times = np.linspace(0.0, 20.0, 1000)
y = sys.integrate()
sim_time = np.linspace(0.0, 20.0, 1000)
fig = plt.figure(figsize=(18, 4))
# fig = plt.figure(0)
fig.add_subplot(141)
plt.plot(sim_time, y[:,0], label='Unshaped')
l23[1]: 0.01,
l23[2]: 0.01,
l34[0]: 0.01,
l34[1]: 0.01,
l34[2]: 0.01,
l45: 0.01,
l56: 0.02,
m1: 0.01,
m2: 0.05,
m3: 0.1,
m4: 0.01,
m5: 0.01 #, m6: 0.02
}
sys = System(KM)
sys.constants = consts
sys.times = np.linspace(0, 100.0, 1000000)
yi1 = consts[l01[1]] - consts[l10[1]]
yi2 = yi1 + consts[l12[1]] - consts[l21[1]]
x6 = consts[l45] + consts[l56]
sys.initial_conditions = {
q[0]: 0.0,
q[1]: 0.0,
q[2]: 0.0,
q[3]: 0.0,
q[4]: 0.0,
q[5]: 0.0,
q[6]: 0.0,
q[7]: yi1,
q[8]: 0.0,
q[9]: 0.0,
true_x_pre = []
true_z_pre = []
true_e_pre = []
true_theta_pre = []
true_phi_pre = []
for i in range(10000):
sys.constants = {
M: plate_mass,
m: rod_mass,
g: 9.81,
H: workspace_width,
a: plate_width,
b: plate_height,
kr: rod_spring,
cr: rod_damper,
k: cable_k,
c: cable_c,
Ip: plate_inertia,
Ir: rod_inertia,
L1: Length1_values[i],
L2: Length2_values[i],
e_offset: e_offset_scalar,
k_C: spring_on_frame_C
}
sys.initial_conditions = {
x: x_values_heat_np[i],
z: z_values_heat_np[i],
theta: theta_values_heat_np[i, 0],
e: e_equil,
phi: theta_values_heat_np[i, 0]
}
bodies = (rod, plate)
loads = (rod_gravity, plate_gravity)
# create a Kane object with respect to the Newtonian reference frame
kane = me.KanesMethod(N, q_ind=(theta, phi), u_ind=(omega, alpha),
kd_eqs=kinDiffs)
# calculate Kane's equations
fr, frstar = kane.kanes_equations(loads, bodies)
sys = System(kane)
sys.constants = {lB: 0.2, # m
h: 0.1, # m
w: 0.2, # m
mA: 0.01, # kg
mB: 0.1, # kg
g: 9.81, # m/s**2
}
sys.initial_conditions = {theta: np.deg2rad(90.0),
phi: np.deg2rad(0.5),
omega: 0,
alpha: 0}
sys.times = np.linspace(0, 10, 500)
x = sys.integrate()
plt.plot(sys.times, x)
