def __init__(self, settings): # conversion from degree to radiant settings['initial state'][ 2:] = settings['initial state'][2:] * np.pi / 180 # add specific "private" settings settings.update(state_count=6) settings.update(input_count=1) Model.__init__(self, settings) # shortcuts for readability self.d0 = self._settings['d0'] self.d1 = self._settings['d1'] self.d2 = self._settings['d2'] self.g = self._settings['g'] self.l1 = self._settings['J_DP1'] / (self._settings['m1*'] * self._settings['l1*']) self.l2 = self._settings['J_DP2'] / (self._settings['m2*'] * self._settings['l2*']) self.m1 = (self._settings['m1*'] * self._settings['l1*'])**2 / self._settings['J_DP1'] self.m2 = (self._settings['m2*'] * self._settings['l2*'])**2 / self._settings['J_DP2'] self.m0 = self._settings['m0*'] + (self._settings['m1*'] - self.m1) + ( self._settings['m2*'] - self.m2)
def __init__(self, settings): # add specific "private" settings settings.update(state_count=4) settings.update(input_count=1) Model.__init__(self, settings) # shortcuts for readability self.d_B = self._settings['d_B'] self.d_n = self._settings['d_n'] self.d_p = self._settings['d_p'] self.d = self.d_p self.d_R = self._settings['d_R'] self.k_L = self._settings['k_L'] self.k_s = self._settings['k_s'] self.k_V = self._settings['k_V'] self.m = self._settings['m'] self.T_n = self._settings['T_n'] self.T_p = self._settings['T_p'] self.T = self.T_p self.g = self._settings['g'] self.K = self._settings['K'] self.D = self._settings['D'] self.tube_length = self._settings['tube_length'] self.A_B = np.pi*self.d_B**2/4 self.A_R = np.pi*self.d_R**2/4 self.A_Sp = self.A_R - self.A_B
def __init__(self, settings): # add specific "private" settings settings.update(state_count=4) settings.update(input_count=1) Model.__init__(self, settings) # shortcuts for readability self.d_B = self._settings['d_B'] self.d_n = self._settings['d_n'] self.d_p = self._settings['d_p'] self.d = self.d_p self.d_R = self._settings['d_R'] self.k_L = self._settings['k_L'] self.k_s = self._settings['k_s'] self.k_V = self._settings['k_V'] self.m = self._settings['m'] self.T_n = self._settings['T_n'] self.T_p = self._settings['T_p'] self.T = self.T_p self.g = self._settings['g'] self.K = self._settings['K'] self.D = self._settings['D'] self.tube_length = self._settings['tube_length'] self.A_B = np.pi * self.d_B**2 / 4 self.A_R = np.pi * self.d_R**2 / 4 self.A_Sp = self.A_R - self.A_B
def __init__(self, settings): # add specific "private" settings settings.update(state_count=4) settings.update(input_count=1) Model.__init__(self, settings) # shortcuts for readability self.M = self._settings['M'] self.R = self._settings['R'] self.J = self._settings['J'] self.Jb = self._settings['Jb'] self.G = self._settings['G'] self.B = self.M / (self.Jb / self.R**2 + self.M)
def __init__(self, settings): # add specific "private" settings settings.update(state_count=4) settings.update(input_count=1) Model.__init__(self, settings) # shortcuts for readability self.M = self._settings['M'] self.R = self._settings['R'] self.J = self._settings['J'] self.Jb = self._settings['Jb'] self.G = self._settings['G'] self.B = self.M / (self.Jb / self.R ** 2 + self.M)
def __init__(self, settings): # conversion from degree to radiant settings['initial state'][2:] = settings['initial state'][2:]*np.pi/180 # add specific "private" settings settings.update(state_count=6) settings.update(input_count=1) Model.__init__(self, settings) # shortcuts for readability self.d0 = self._settings['d0'] self.d1 = self._settings['d1'] self.d2 = self._settings['d2'] self.g = self._settings['g'] self.l1 = self._settings['J_DP1']/(self._settings['m1*']*self._settings['l1*']) self.l2 = self._settings['J_DP2']/(self._settings['m2*']*self._settings['l2*']) self.m1 = (self._settings['m1*']*self._settings['l1*'])**2/self._settings['J_DP1'] self.m2 = (self._settings['m2*']*self._settings['l2*'])**2/self._settings['J_DP2'] self.m0 = self._settings['m0*'] + (self._settings['m1*'] - self.m1) + (self._settings['m2*'] - self.m2)