def test_complete_simple_double_pendulum(): q1, q2 = dynamicsymbols('q1 q2') u1, u2 = dynamicsymbols('u1 u2') m, l, g = symbols('m l g') C = Body('C') # ceiling PartP = Body('P', mass=m) PartR = Body('R', mass=m) J1 = PinJoint('J1', C, PartP, speeds=u1, coordinates=q1, child_joint_pos=-l*PartP.x, parent_axis=C.z, child_axis=PartP.z) J2 = PinJoint('J2', PartP, PartR, speeds=u2, coordinates=q2, child_joint_pos=-l*PartR.x, parent_axis=PartP.z, child_axis=PartR.z) PartP.apply_force(m*g*C.x) PartR.apply_force(m*g*C.x) method = JointsMethod(C, J1, J2) method.form_eoms() assert expand(method.mass_matrix_full) == Matrix([[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 2*l**2*m*cos(q2) + 3*l**2*m, l**2*m*cos(q2) + l**2*m], [0, 0, l**2*m*cos(q2) + l**2*m, l**2*m]]) assert trigsimp(method.forcing_full) == trigsimp(Matrix([[u1], [u2], [-g*l*m*(sin(q1 + q2) + sin(q1)) - g*l*m*sin(q1) + l**2*m*(2*u1 + u2)*u2*sin(q2)], [-g*l*m*sin(q1 + q2) - l**2*m*u1**2*sin(q2)]]))
def test_chaos_pendulum(): #https://www.pydy.org/examples/chaos_pendulum.html mA, mB, lA, lB, IAxx, IBxx, IByy, IBzz, g = symbols('mA, mB, lA, lB, IAxx, IBxx, IByy, IBzz, g') theta, phi, omega, alpha = dynamicsymbols('theta phi omega alpha') A = ReferenceFrame('A') B = ReferenceFrame('B') rod = Body('rod', mass=mA, frame=A, central_inertia=inertia(A, IAxx, IAxx, 0)) plate = Body('plate', mass=mB, frame=B, central_inertia=inertia(B, IBxx, IByy, IBzz)) C = Body('C') J1 = PinJoint('J1', C, rod, coordinates=theta, speeds=omega, child_joint_pos=-lA*rod.z, parent_axis=C.y, child_axis=rod.y) J2 = PinJoint('J2', rod, plate, coordinates=phi, speeds=alpha, parent_joint_pos=(lB-lA)*rod.z, parent_axis=rod.z, child_axis=plate.z) rod.apply_force(mA*g*C.z) plate.apply_force(mB*g*C.z) method = JointsMethod(C, J1, J2) method.form_eoms() MM = method.mass_matrix forcing = method.forcing rhs = MM.LUsolve(forcing) xd = (-2 * IBxx * alpha * omega * sin(phi) * cos(phi) + 2 * IByy * alpha * omega * sin(phi) * cos(phi) - g * lA * mA * sin(theta) - g * lB * mB * sin(theta)) / (IAxx + IBxx * sin(phi)**2 + IByy * cos(phi)**2 + lA**2 * mA + lB**2 * mB) assert (rhs[0] - xd).simplify() == 0 xd = (IBxx - IByy) * omega**2 * sin(phi) * cos(phi) / IBzz assert (rhs[1] - xd).simplify() == 0
def test_simple_pedulum(): l, m, g = symbols('l m g') C = Body('C') b = Body('b', mass=m) q = dynamicsymbols('q') P = PinJoint('P', C, b, speeds=q.diff(t), coordinates=q, child_joint_pos = -l*b.x, parent_axis=C.z, child_axis=b.z) b.potential_energy = - m * g * l * cos(q) method = JointsMethod(C, P) method.form_eoms(LagrangesMethod) rhs = method.rhs() assert rhs[1] == -g*sin(q)/l
def test_jointmethod_duplicate_coordinates_speeds(): P = Body('P') C = Body('C') T = Body('T') q, u = dynamicsymbols('q u') P1 = PinJoint('P1', P, C, q) P2 = PrismaticJoint('P2', C, T, q) raises(ValueError, lambda: JointsMethod(P, P1, P2)) P1 = PinJoint('P1', P, C, speeds=u) P2 = PrismaticJoint('P2', C, T, speeds=u) raises(ValueError, lambda: JointsMethod(P, P1, P2)) P1 = PinJoint('P1', P, C, q, u) P2 = PrismaticJoint('P2', C, T, q, u) raises(ValueError, lambda: JointsMethod(P, P1, P2))
def test_jointsmethod(): P = Body('P') C = Body('C') Pin = PinJoint('P1', P, C) C_ixx, g = symbols('C_ixx g') theta, omega = dynamicsymbols('theta_P1, omega_P1') P.apply_force(g * P.y) method = JointsMethod(P, Pin) assert method.frame == P.frame assert method.bodies == [C, P] assert method.loads == [(P.masscenter, g * P.frame.y)] assert method.q == [theta] assert method.u == [omega] assert method.kdes == [omega - theta.diff()] soln = method.form_eoms() assert soln == Matrix([[-C_ixx * omega.diff()]]) assert method.forcing_full == Matrix([[omega], [0]]) assert method.mass_matrix_full == Matrix([[1, 0], [0, C_ixx]]) assert isinstance(method.method, KanesMethod)
def test_two_dof_joints(): q1, q2, u1, u2 = dynamicsymbols('q1 q2 u1 u2') m, c1, c2, k1, k2 = symbols('m c1 c2 k1 k2') W = Body('W') B1 = Body('B1', mass=m) B2 = Body('B2', mass=m) J1 = PrismaticJoint('J1', W, B1, coordinates=q1, speeds=u1) J2 = PrismaticJoint('J2', B1, B2, coordinates=q2, speeds=u2) W.apply_force(k1*q1*W.x, reaction_body=B1) W.apply_force(c1*u1*W.x, reaction_body=B1) B1.apply_force(k2*q2*W.x, reaction_body=B2) B1.apply_force(c2*u2*W.x, reaction_body=B2) method = JointsMethod(W, J1, J2) method.form_eoms() MM = method.mass_matrix forcing = method.forcing rhs = MM.LUsolve(forcing) assert expand(rhs[0]) == expand((-k1 * q1 - c1 * u1 + k2 * q2 + c2 * u2)/m) assert expand(rhs[1]) == expand((k1 * q1 + c1 * u1 - 2 * k2 * q2 - 2 * c2 * u2) / m)