def __init__(self,params,symname='Ubeam',symlabel='beam', **kwargs):
"""Create a continous beam element. params should be a
dictionary with keys 'mu', 'L', and 'EI'. If the beam is more
than 1 dimensional (i.e. if maxsize!=4), than params should
specify 'EI1' and 'EI2' as well as 'EA', 'm11', 'GJ' if axial
and torsional analysis is to be performed.
kwargs must include {'usez':True} if a 4x4 beam element should
model bending about the z-axis. The y-axis is used if 'usez'
is False or not specified."""
if kwargs.has_key('usez'):
self.usez=kwargs['usez']
kwargs.pop('usez')
else:
self.usez=False
TMMElementLHT.__init__(self,'beam',params,symname=symname,symlabel=symlabel,**kwargs)
def __init__(self,params,**kwargs):
"""Create a rigid mass element. params should be a dictionary
with keys 'L', 'm', 'r', and 'I'. 'L' is the length of the
element. 'm' is the mass of the element. 'r' is the
distance to the center of gravity of the link. 'I' is the
second moment of inertia and it should be a vector if this is
a 2 or 3D link.
kwargs should contain {'usez':True} if a 4x4 rigid mass
element should model rotation about the z-axis."""
if kwargs.has_key('usez'):
self.usez=kwargs['usez']
kwargs.pop('usez')
else:
self.usez=False
TMMElementLHT.__init__(self,'rigid',params,**kwargs)
def __init__(
self, link0symlabel, joint1symlabel, link1symlabel, avssymlabel, Ga=1, axis=1, maxsize=4, label="", **kwargs
):
L0 = "L" + link0symlabel
L1 = "L" + link1symlabel
m1 = "m" + link1symlabel
r1 = "r" + link1symlabel
Iz1 = "I" + link1symlabel
c1 = "c" + joint1symlabel
k1 = "k" + joint1symlabel
tau = "tau" + avssymlabel
gain = "Ka" + avssymlabel
Gc = "Gc" + avssymlabel
values = [L0, L1, m1, r1, Iz1, c1, k1, tau, gain, Gc, Ga]
keys = ["L0", "L1", "m1", "r1", "Iz1", "c1", "k1", "tau", "gain", "Gc", "Ga"]
params = {}
for key, value in zip(keys, values):
params[key] = rwkmisc.symstr(value)
# params[key]=ModelSpec.Par(value)
params["axis"] = axis
TMMElementLHT.__init__(self, "accelfb", params, maxsize=maxsize, label=label, **kwargs)
def __init__(self,params,symlabel='M',**kwargs):
"""Create a 2 by 2 mass element. params is a dictionary with
only one key: params={'m':##.##} (the mass of the cart)."""
TMMElementLHT.__init__(self,'rigid',params,maxsize=2,symlabel=symlabel,**kwargs)
def __init__(
self,
link0,
joint1,
link1,
avs,
Ga=1,
axis=1,
maxsize=4,
label="",
symlabel="accelfb",
symname="Uaccelfb",
compensators="Ga",
**extraargs
):
"""Initializes the accelerometer feedback element. link0,
joint1, link1, and avs are all TMMElement's that must be
passed in. Their parameters are used in creating the transfer
matrix for acceleration feedback."""
l0params = link0.params
# a = -(L0*m1*r1*s^2-c1*s-k1)/(c1*s+k1);
# b = -((L0*m1*r1^2-L0*L1*m1*r1+Iz1*L0)*s^2+(c1*L1+c1*L0)*s+k1*L1+k1*L0)/(c1*s+k1);
# c = L0/(c1*s+k1);
# d = L0*L1/(c1*s+k1);
L0 = l0params["L"]
l1params = link1.params
L1 = l1params["L"]
m1 = l1params["m"]
r1 = l1params["r"]
Iz1 = l1params["I"]
j1params = joint1.params
c1 = j1params["c"]
k1 = j1params["k"]
gain = avs.params["Ka"]
Gc = avs.params["Gc"]
params = {
"L0": L0,
"L1": L1,
"m1": m1,
"r1": r1,
"Iz1": Iz1,
"c1": c1,
"k1": k1,
"axis": axis,
"gain": gain,
"Gc": Gc,
"Ga": Ga,
}
if avs.params.has_key("tau"):
params["tau"] = avs.params["tau"]
for curkey, curvalue in params.iteritems():
if curkey != "Ga":
if shape(curvalue):
curvalue = copy.deepcopy(curvalue)[0]
params[curkey] = curvalue
TMMElementLHT.__init__(
self,
"accelfb",
params,
maxsize=maxsize,
label=label,
symlabel=symlabel,
symname=symname,
compensators=compensators,
**extraargs
)
# set up symbolic params
sL0 = "L" + link0.symlabel
sL1 = "L" + link1.symlabel
sm1 = "m" + link1.symlabel
sr1 = "r" + link1.symlabel
sIz1 = "I" + link1.symlabel
sc1 = "c" + joint1.symlabel
sk1 = "k" + joint1.symlabel
stau = "tau" + avs.symlabel
sgain = "Ka" + avs.symlabel
sGc = "Gc" + avs.symlabel
sGa = "Ga"
values = [sL0, sL1, sm1, sr1, sIz1, sc1, sk1, stau, sgain, sGc, sGa]
keys = ["L0", "L1", "m1", "r1", "Iz1", "c1", "k1", "tau", "gain", "Gc", "Ga"]
symparams = {}
for key, value in zip(keys, values):
symparams[key] = rwkmisc.symstr(value)
# params[key]=ModelSpec.Par(value)
symparams["axis"] = axis
self.symparams = symparams
