#lA = Constant('lA',1,system) #lB = Constant('lB',1,system) #lC = Constant('lC',1,system) ################################################ #This is where we set the link angles t1 = 50 * pi / 180 t2 = 70 * pi / 180 t3 = 70 * pi / 180 t4 = 60 * pi / 180 t0 = 2 * pi - (t1 + t2 + t3 + t4) ################################################ #mass of the system m = Constant(1, 'm', system) ################################################ #Define constant data types, seeded with constant values t0 = Constant(t0, 't0', system) t1 = Constant(t1, 't1', system) t2 = Constant(t2, 't2', system) t3 = Constant(t3, 't3', system) t4 = Constant(t4, 't4', system) ################################################ #other constants g = Constant(0, 'g', system) b = Constant(1e0, 'b', system) k = Constant(1e2, 'k', system)
# The next two lines create a new system object and set that system as the global system within the module so that other variables can use and find it. # In[4]: system = System() pynamics.set_system(__name__, system) # ## Parameterization # # ### Constants # # Declare constants and seed them with their default value. This can be changed at integration time but is often a nice shortcut when you don't want the value to change but you want it to be represented symbolically in calculations # In[5]: lA = Constant(1, 'lA', system) lB = Constant(1, 'lB', system) lC = Constant(6 * 25.4 / 1000, 'lC', system) mA = Constant(1, 'mA', system) mB = Constant(1, 'mB', system) mC = Constant(1, 'mC', system) m1 = Constant(2, 'm1', system) g = Constant(9.81, 'g', system) b = Constant(1e1, 'b', system) k1 = Constant(1e2, 'k1', system) k2 = Constant(1e1, 'k2', system) preload1 = Constant(0 * pi / 180, 'preload1', system) preload2 = Constant(0 * pi / 180, 'preload2', system)
from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output,PointsOutput from pynamics.particle import Particle import pynamics.integration import sympy import numpy import matplotlib.pyplot as plt plt.ion() import math system = System() pynamics.set_system(__name__,system) g = Constant(9.81,'g',system) tol = 1e-5 tinitial = 0 tfinal = 5 tstep = 1/30 t = numpy.r_[tinitial:tfinal:tstep] qA,qA_d,qA_dd = Differentiable('qA') qB,qB_d,qB_dd = Differentiable('qB') qC,qC_d,qC_dd = Differentiable('qC') mC = Constant(1,'mC') Ixx = Constant(2,'Ixx') Iyy = Constant(3,'Iyy')
from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output, PointsOutput from pynamics.particle import Particle import pynamics.integration import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) lA = Constant(1, 'lA', system) mA = Constant(1, 'mA', system) g = Constant(9.81, 'g', system) b = Constant(1e0, 'b', system) k = Constant(1e1, 'k', system) tinitial = 0 tfinal = 5 tstep = 1 / 30 t = numpy.r_[tinitial:tfinal:tstep] preload1 = Constant(0 * pi / 180, 'preload1', system) qA, qA_d, qA_dd = Differentiable('qA', system)
import scipy import scipy.integrate #from tictoc import * import matplotlib.pyplot as plt from pynamics.system import System from pynamics.variable_types import Differentiable,Constant,Variable from pynamics.frame import Frame from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output #=============================================================================== system=System() lA = Constant(.04,'lA',system) lB = Constant(.04,'lB',system) g = Constant(9.81,'g',system) mA = Constant(.0145,'mA',system) mB = Constant(.0145,'mB',system) zero = Constant(0,'zero',system) Ixx_A = Constant(8.6e-007,'Ixx_A',system) Iyy_A = Constant(2.2e-006,'Iyy_A',system) Izz_A = Constant(2.2e-006,'Izz_A',system) Ixx_B = Constant(8.6e-007,'Ixx_B',system) Iyy_B = Constant(2.2e-006,'Iyy_B',system) Izz_B = Constant(2.2e-006,'Izz_B',system) b = Constant(0.00001,'b',system) k = Constant(0.1,'k',system)
from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output, PointsOutput from pynamics.particle import Particle import pynamics.integration import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) tol = 1e-3 lO = Constant(name='lO', system=system) lA = Constant(name='lA', system=system) lB = Constant(name='lB', system=system) lC = Constant(name='lC', system=system) lD = Constant(name='lD', system=system) mO = Constant(name='mO', system=system) mA = Constant(name='mA', system=system) mB = Constant(name='mB', system=system) mC = Constant(name='mC', system=system) mD = Constant(name='mD', system=system) #m_motor = Constant(name='m_motor',system=system) #I_main = Constant(name='I_main',system=system) g = Constant(name='g', system=system)
from pynamics.variable_types import Differentiable, Constant from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output from pynamics.particle import Particle #import sympy import numpy import scipy.integrate import matplotlib.pyplot as plt plt.ion() from sympy import pi system = System() lA = Constant('lA', 1, system) lB = Constant('lB', 1, system) lC = Constant('lC', 1, system) mA = Constant('mA', 1, system) mB = Constant('mB', 1, system) mC = Constant('mC', 1, system) g = Constant('g', 9.81, system) b = Constant('b', 1e0, system) k = Constant('k', 0e2, system) tinitial = 0 tfinal = 5 tstep = .001 t = numpy.r_[tinitial:tfinal:tstep]
from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output, PointsOutput from pynamics.particle import Particle import pynamics.integration import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) lA = Constant(1, 'lA', system) mA = Constant(1, 'mA', system) g = Constant(9.81, 'g', system) #b = Constant(1e0,'b',system) k = Constant(3e2, 'k', system) Ixx_A = Constant(1, 'Ixx_A', system) Iyy_A = Constant(1, 'Iyy_A', system) Izz_A = Constant(.3, 'Izz_A', system) tinitial = 0 tfinal = 10 tstep = 1 / 100 t = numpy.r_[tinitial:tfinal:tstep]
from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output,PointsOutput from pynamics.particle import Particle import pynamics.integration from pynamics.constraint import KinematicConstraint import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__,system) lA = Constant(1,'lA',system) lB = Constant(1,'lB',system) lC = Constant(1,'lC',system) lD = Constant(1,'lD',system) m = Constant(1,'m',system) # mB = Constant(1,'mB',system) # mC = Constant(1,'mC',system) # g = Constant(9.81,'g',system) # b = Constant(1e0,'b',system) # k = Constant(1e1,'k',system) tinitial = 0 tfinal = 5 tstep = 1/30
from pynamics.dyadic import Dyadic from pynamics.output import Output from pynamics.particle import Particle import pynamics.integration import matplotlib.pyplot as plt from mpl_toolkits.mplot3d import Axes3D import sympy import numpy plt.ion() from math import pi system = System() pynamics.set_system(__name__,system) mp1 = Constant(1,'mp1') g = Constant(9.81,'g') l1 = Constant(1,'l1') b = Constant(1,'b') k = Constant(1e1,'k',system) q1,q1_d,q1_dd = Differentiable('q1',ini = [0,1]) q2,q2_d,q2_dd = Differentiable('q2',ini = [0,0]) q3,q3_d,q3_dd = Differentiable('q3',ini = [0,0]) f1 = Frame(,system) f2 = Frame(,system) f3 = Frame(,system) f4 = Frame(,system) #f5 = Frame(,system)
from pynamics.variable_types import Differentiable, Constant from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output from pynamics.particle import Particle #import sympy import numpy import scipy.integrate import matplotlib.pyplot as plt plt.ion() from sympy import pi system = System() lA = Constant('lA', .075, system) mA = Constant('mA', .01, system) g = Constant('g', 9.81, system) tinitial = 0 tfinal = 4 tstep = .001 t = numpy.r_[tinitial:tfinal:tstep] preload1 = Constant('preload1', 0 * pi / 180, system) Ixx_A = Constant('Ixx_A', 50 / 1000 / 100 / 100, system) Iyy_A = Constant('Iyy_A', 50 / 1000 / 100 / 100, system) Izz_A = Constant('Izz_A', 50 / 1000 / 100 / 100, system)
def init_system(v, drag_direction, time_step): import pynamics from pynamics.frame import Frame from pynamics.variable_types import Differentiable, Constant from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output, PointsOutput from pynamics.particle import Particle import pynamics.integration import logging import sympy import numpy import matplotlib.pyplot as plt from math import pi from scipy import optimize from sympy import sin import pynamics.tanh as tanh from fit_qs import exp_fit import fit_qs # time_step = tstep x = numpy.zeros((7, 1)) friction_perp = x[0] friction_par = x[1] given_b = x[2] given_k = x[3] given_k1 = x[4] given_b1 = x[4] system = System() pynamics.set_system(__name__, system) global_q = True lO = Constant(7 / 1000, 'lO', system) lA = Constant(33 / 1000, 'lA', system) lB = Constant(33 / 1000, 'lB', system) lC = Constant(33 / 1000, 'lC', system) mO = Constant(10 / 1000, 'mA', system) mA = Constant(2.89 / 1000, 'mA', system) mB = Constant(2.89 / 1000, 'mB', system) mC = Constant(2.89 / 1000, 'mC', system) k = Constant(0.209, 'k', system) k1 = Constant(0.209, 'k1', system) friction_perp = Constant(1.2, 'f_perp', system) friction_par = Constant(-0.2, 'f_par', system) b_damping = Constant(given_b, 'b_damping', system) # time_step = 1/00 if v == 0: [ t, tinitial, tfinal, tstep, qAa1, qAb1, qAc1, qAa2, qAb2, qAc2, qAa3, qAb3, qAc3, qBa1, qBb1, qBc1, qBa2, qBb2, qBc2, qBa3, qBb3, qBc3, qCa1, qCb1, qCc1, qCa2, qCb2, qCc2, qCa3, qCb3, qCc3 ] = fit_qs.fit_0_amount(time_step) elif v == 10: [ t, tinitial, tfinal, tstep, qAa1, qAb1, qAc1, qAa2, qAb2, qAc2, qAa3, qAb3, qAc3, qBa1, qBb1, qBc1, qBa2, qBb2, qBc2, qBa3, qBb3, qBc3, qCa1, qCb1, qCc1, qCa2, qCb2, qCc2, qCa3, qCb3, qCc3 ] = fit_qs.fit_10_amount(time_step) elif v == 20: [ t, tinitial, tfinal, tstep, qAa1, qAb1, qAc1, qAa2, qAb2, qAc2, qAa3, qAb3, qAc3, qBa1, qBb1, qBc1, qBa2, qBb2, qBc2, qBa3, qBb3, qBc3, qCa1, qCb1, qCc1, qCa2, qCb2, qCc2, qCa3, qCb3, qCc3 ] = fit_qs.fit_20_amount(time_step) elif v == 30: [ t, tinitial, tfinal, tstep, qAa1, qAb1, qAc1, qAa2, qAb2, qAc2, qAa3, qAb3, qAc3, qBa1, qBb1, qBc1, qBa2, qBb2, qBc2, qBa3, qBb3, qBc3, qCa1, qCb1, qCc1, qCa2, qCb2, qCc2, qCa3, qCb3, qCc3 ] = fit_qs.fit_30_amount(time_step) elif v == 40: [ t, tinitial, tfinal, tstep, qAa1, qAb1, qAc1, qAa2, qAb2, qAc2, qAa3, qAb3, qAc3, qBa1, qBb1, qBc1, qBa2, qBb2, qBc2, qBa3, qBb3, qBc3, qCa1, qCb1, qCc1, qCa2, qCb2, qCc2, qCa3, qCb3, qCc3 ] = fit_qs.fit_40_amount(time_step) elif v == 50: [ t, tinitial, tfinal, tstep, qAa1, qAb1, qAc1, qAa2, qAb2, qAc2, qAa3, qAb3, qAc3, qBa1, qBb1, qBc1, qBa2, qBb2, qBc2, qBa3, qBb3, qBc3, qCa1, qCb1, qCc1, qCa2, qCb2, qCc2, qCa3, qCb3, qCc3 ] = fit_qs.fit_50_amount(time_step) distance = 200 / 1000 nums = int(tfinal / tstep) array_num = numpy.arange(0, nums) array_num1 = numpy.repeat(array_num, nums, axis=0) array_num1.shape = (nums, nums) error_k = array_num1 / 8000 + numpy.ones((nums, nums)) fit_t = t fit_qA = exp_fit(fit_t, qAa1, qAb1, qAc1, qAa2, qAb2, qAc2, qAa3, qAb3, qAc3) fit_qB = exp_fit(fit_t, qBa1, qBb1, qBc1, qBa2, qBb2, qBc2, qBa3, qBb3, qBc3) fit_qC = exp_fit(fit_t, qCa1, qCb1, qCc1, qCa2, qCb2, qCc2, qCa3, qCb3, qCc3) fit_qAd1 = numpy.diff(fit_qA) / numpy.diff(fit_t) fit_qAd = numpy.append(fit_qAd1[0], fit_qAd1) fit_qBd1 = numpy.diff(fit_qB) / numpy.diff(fit_t) fit_qBd = numpy.append(fit_qBd1[0], fit_qBd1) fit_qCd1 = numpy.diff(fit_qC) / numpy.diff(fit_t) fit_qCd = numpy.append(fit_qCd1[0], fit_qCd1) fit_states1 = numpy.stack( (fit_qA, fit_qB, fit_qC, fit_qAd, fit_qBd, fit_qCd), axis=1) fit_states1[:, 0:3] = fit_states1[:, 0:3] - fit_states1[0, 0:3] fit_states = -drag_direction * numpy.deg2rad(fit_states1) # plt.plot(t,fit_states) if drag_direction == -1: zero_shape = fit_states.shape fit_states = numpy.zeros(zero_shape) fit_vel = drag_direction * distance / (tfinal) if qAa1 == 0: fit_vel = 0 fit_v = numpy.ones(t.shape) * fit_vel if qAa1 == 0: fit_d = numpy.ones(t.shape) * fit_vel else: fit_d = drag_direction * numpy.r_[tinitial:distance:tstep * abs(fit_vel)] preload0 = Constant(0 * pi / 180, 'preload0', system) preload1 = Constant(0 * pi / 180, 'preload1', system) preload2 = Constant(0 * pi / 180, 'preload2', system) preload3 = Constant(0 * pi / 180, 'preload3', system) Ixx_O = Constant(1, 'Ixx_O', system) Iyy_O = Constant(1, 'Iyy_O', system) Izz_O = Constant(1, 'Izz_O', system) Ixx_A = Constant(1, 'Ixx_A', system) Iyy_A = Constant(1, 'Iyy_A', system) Izz_A = Constant(1, 'Izz_A', system) Ixx_B = Constant(1, 'Ixx_B', system) Iyy_B = Constant(1, 'Iyy_B', system) Izz_B = Constant(1, 'Izz_B', system) Ixx_C = Constant(1, 'Ixx_C', system) Iyy_C = Constant(1, 'Iyy_C', system) Izz_C = Constant(1, 'Izz_C', system) y, y_d, y_dd = Differentiable('y', system) qO, qO_d, qO_dd = Differentiable('qO', system) qA, qA_d, qA_dd = Differentiable('qA', system) qB, qB_d, qB_dd = Differentiable('qB', system) qC, qC_d, qC_dd = Differentiable('qC', system) initialvalues = {} initialvalues[y] = 0 + 1e-14 initialvalues[y_d] = fit_vel + 1e-14 initialvalues[qO] = 0 + 1e-14 initialvalues[qO_d] = 0 + 1e-14 initialvalues[qA] = fit_states[0, 0] + 1e-14 initialvalues[qA_d] = fit_states[0, 3] + 1e-14 initialvalues[qB] = fit_states[0, 1] + 1e-14 initialvalues[qB_d] = fit_states[0, 4] + 1e-14 initialvalues[qC] = fit_states[0, 2] + 1e-14 initialvalues[qC_d] = fit_states[0, 5] + 1e-14 statevariables = system.get_state_variables() ini = [initialvalues[item] for item in statevariables] N = Frame('N') O = Frame('O') A = Frame('A') B = Frame('B') C = Frame('C') drag_direction = drag_direction velocity = 200 / tfinal / 1000 vSoil = drag_direction * velocity * N.y nSoil = 1 / vSoil.length() * vSoil system.set_newtonian(N) if not global_q: O.rotate_fixed_axis_directed(N, [0, 0, 1], qO, system) A.rotate_fixed_axis_directed(O, [0, 0, 1], qA, system) B.rotate_fixed_axis_directed(A, [0, 0, 1], qB, system) C.rotate_fixed_axis_directed(B, [0, 0, 1], qC, system) else: O.rotate_fixed_axis_directed(N, [0, 0, 1], qO, system) A.rotate_fixed_axis_directed(N, [0, 0, 1], qA, system) B.rotate_fixed_axis_directed(N, [0, 0, 1], qB, system) C.rotate_fixed_axis_directed(N, [0, 0, 1], qC, system) pNO = 0 * N.x + y * N.y pOA = lO * N.x + y * N.y pAB = pOA + lA * A.x pBC = pAB + lB * B.x pCtip = pBC + lC * C.x pOcm = pNO + lO / 2 * N.x pAcm = pOA + lA / 2 * A.x pBcm = pAB + lB / 2 * B.x pCcm = pBC + lC / 2 * C.x wNO = N.getw_(O) wOA = N.getw_(A) wAB = A.getw_(B) wBC = B.getw_(C) IO = Dyadic.build(O, Ixx_O, Iyy_O, Izz_O) IA = Dyadic.build(A, Ixx_A, Iyy_A, Izz_A) IB = Dyadic.build(B, Ixx_B, Iyy_B, Izz_B) IC = Dyadic.build(C, Ixx_C, Iyy_C, Izz_C) BodyO = Body('BodyO', O, pOcm, mO, IO, system) BodyA = Body('BodyA', A, pAcm, mA, IA, system) BodyB = Body('BodyB', B, pBcm, mB, IB, system) BodyC = Body('BodyC', C, pCcm, mC, IC, system) # BodyC = Particle(pCcm,mC,'ParticleC',system) vOcm = pOcm.time_derivative() vAcm = pAcm.time_derivative() vBcm = pBcm.time_derivative() vCcm = pCcm.time_derivative() system.add_spring_force1(k1 + 10000 * (qA + abs(qA)), (qA - qO - preload1) * N.z, wOA) system.add_spring_force1(k + 10000 * (qB + abs(qB)), (qB - qA - preload2) * N.z, wAB) system.add_spring_force1(k + 10000 * (qC + abs(qC)), (qC - qB - preload3) * N.z, wBC) #new Method use nJoint nvAcm = 1 / vAcm.length() * vAcm nvBcm = 1 / vBcm.length() * vBcm nvCcm = 1 / vCcm.length() * vCcm faperp = friction_perp * nvAcm.dot(A.y) * A.y fapar = friction_par * nvAcm.dot(A.x) * A.x system.addforce(-(faperp + fapar), vAcm) fbperp = friction_perp * nvBcm.dot(B.y) * B.y fbpar = friction_par * nvBcm.dot(B.x) * B.x system.addforce(-(fbperp + fbpar), vBcm) fcperp = friction_perp * nvCcm.dot(C.y) * C.y fcpar = friction_par * nvCcm.dot(C.x) * C.x system.addforce(-(fcperp + fcpar), vCcm) system.addforce(-b_damping * wOA, wOA) system.addforce(-b_damping * wAB, wAB) system.addforce(-b_damping * wBC, wBC) eq = [] eq_d = [(system.derivative(item)) for item in eq] eq_d.append(y_d - fit_vel) eq_dd = [(system.derivative(item)) for item in eq_d] f, ma = system.getdynamics() func1 = system.state_space_post_invert(f, ma, eq_dd) points = [pNO, pOA, pAB, pBC, pCtip] constants = system.constant_values return system, f, ma, func1, points, t, ini, constants, b_damping, k, k1, tstep, fit_states
from pynamics.dyadic import Dyadic from pynamics.output import Output, PointsOutput from pynamics.particle import Particle, PseudoParticle import pynamics.integration from pynamics.constraint import AccelerationConstraint #import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) L = Constant(name='L', system=system) V = Constant(name='V', system=system) R = Constant(name='R', system=system) Im = Constant(name='Im', system=system) Il = Constant(name='Il', system=system) Ib = Constant(name='Ib', system=system) G = Constant(name='G', system=system) b = Constant(name='b', system=system) kv = Constant(name='kv', system=system) kt = Constant(name='kt', system=system) m_pendulum = Constant(name='m_pendulum', system=system) m_motor = Constant(name='m_motor', system=system) m_body = Constant(name='m_body', system=system) g = Constant(name='g', system=system) l = Constant(name='l', system=system)
from pynamics.variable_types import Differentiable,Constant from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output from pynamics.particle import Particle #import sympy import numpy import scipy.integrate import matplotlib.pyplot as plt plt.ion() from sympy import pi system = System() lA = Constant('lA',1,system) lB = Constant('lB',1,system) lC = Constant('lC',1,system) mA = Constant('mA',1,system) mB = Constant('mB',1,system) mC = Constant('mC',1,system) g = Constant('g',9.81,system) b = Constant('b',1e1,system) k = Constant('k',1e2,system) tinitial = 0 tfinal = 5 tstep = .001 t = numpy.r_[tinitial:tfinal:tstep]
import pynamics.integration import numpy import matplotlib.pyplot as plt plt.ion() from math import pi import logging import pynamics.integration import pynamics.system import numpy.random import scipy.interpolate import cma system = System() pynamics.set_system(__name__, system) lA = Constant(1, 'lA', system) lB = Constant(1, 'lB', system) lC = Constant(1, 'lC', system) mA = Constant(1, 'mA', system) mB = Constant(1, 'mB', system) mC = Constant(1, 'mC', system) g = Constant(9.81, 'g', system) b = Constant(1e1, 'b', system) k = Constant(1e1, 'k', system) preload1 = Constant(0 * pi / 180, 'preload1', system) preload2 = Constant(0 * pi / 180, 'preload2', system) preload3 = Constant(0 * pi / 180, 'preload3', system)
import numpy import scipy import scipy.integrate #from tictoc import * import matplotlib.pyplot as plt from pynamics.system import System from pynamics.variable_types import Differentiable, Constant, Variable from pynamics.frame import Frame from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output #=============================================================================== system = System() lA = Constant('lA', .04, system) Constant('lB', .04, system) Constant('g', 9.81, system) Constant('mA', .0145, system) Constant('mB', .0145, system) Constant('zero', 0, system) Constant('Ixx_A', 8.6e-007, system) Constant('Iyy_A', 2.2e-006, system) Constant('Izz_A', 2.2e-006, system) Constant('Ixx_B', 8.6e-007, system) Constant('Iyy_B', 2.2e-006, system) Constant('Izz_B', 2.2e-006, system) Constant('b', 0.00001, system) Constant('k', 0.1, system)
from pynamics.dyadic import Dyadic from pynamics.output import Output from pynamics.particle import Particle, PseudoParticle import pynamics.integration #import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) L = Constant(name='L', system=system) V = Constant(name='V', system=system) R = Constant(name='R', system=system) Im = Constant(name='Im', system=system) Il = Constant(name='Il', system=system) G = Constant(name='G', system=system) b = Constant(name='b', system=system) kv = Constant(name='kv', system=system) kt = Constant(name='kt', system=system) Tl = Constant(name='Tl', system=system) m = Constant(name='m', system=system) g = Constant(name='g', system=system) tinitial = 0 tfinal = 3 tstep = .01
from pynamics.dyadic import Dyadic from pynamics.output import Output, PointsOutput from pynamics.particle import Particle from pynamics.constraint import AccelerationConstraint import pynamics.integration import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) lA = Constant(.1, 'lA', system) mA = Constant(.1, 'mA', system) # g = Constant(9.81,'g',system) freq = Constant(.1, 'freq', system) torque = Constant(10, 'torque', system) Area = Constant(.1, 'Area', system) # b = Constant(1e0,'b',system) k = Constant(1e1, 'k', system) rho = Constant(1000, 'rho') Ixx_motor = Constant(.1, 'Ixx_motor') Iyy_motor = Constant(.1, 'Iyy_motor') Izz_motor = Constant(1, 'Izz_motor') Ixx_plate = Constant(.1, 'Ixx_plate')
from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output #import sympy import numpy import scipy.integrate import matplotlib.pyplot as plt plt.ion() from math import pi system = System() lA = Constant('lA', 0.0570776, system) lB = Constant('lB', 0.0399543, system) lC = Constant('lC', 0.027968, system) g = Constant('g', 9.81, system) mA = Constant('mA', 0.0179314568844537, system) mB = Constant('mB', 0.0125520135359323, system) mC = Constant('mC', 0.00878640633355993, system) Ixx_A = Constant('Ixx_A', 8.96572844222684e-07, system) Iyy_A = Constant('Iyy_A', 5.31645644183654e-06, system) Izz_A = Constant('Izz_A', 5.31645644183654e-06, system) Ixx_B = Constant('Ixx_B', 6.27600676796613e-07, system) Iyy_B = Constant('Iyy_B', 1.98358014762822e-06, system) Izz_B = Constant('Izz_B', 1.98358014762822e-06, system) Ixx_C = Constant('Ixx_C', 4.39320316677997e-07, system) Iyy_C = Constant('Iyy_C', 7.9239401855911e-07, system)
tstep = 1 / 30 t = numpy.r_[tinitial:tfinal:tstep] ang_ini = 0 v = 1 x, x_d, x_dd = Differentiable('x', ini=[0, v * cos(ang_ini * pi / 180)]) y, y_d, y_dd = Differentiable('y', ini=[1, v * sin(ang_ini * pi / 180)]) z, z_d, z_dd = Differentiable('z', ini=[0, 0]) qA, qA_d, qA_dd = Differentiable('qA', ini=[0, 0]) qB, qB_d, qB_dd = Differentiable('qB', ini=[0, 0]) qC, qC_d, qC_dd = Differentiable('qC', ini=[ang_ini * pi / 180, 0]) mC = Constant(.05, 'mC') g = Constant(9.81, 'g') I_11 = Constant(6e-3, 'I_11') rho = Constant(1.292, 'rho') Sw = Constant(.1, 'Sw') Se = Constant(.025, 'Se') l = Constant(.35, 'l') lw = Constant(-.03, 'lw') le = Constant(.04, 'le') qE = Constant(3 * pi / 180, 'qE') ini = system.get_ini() N = Frame('N') A = Frame('A') B = Frame('B')
from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output, PointsOutput from pynamics.particle import Particle import pynamics.integration import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) tol = 1e-7 lO = Constant(.5, 'lO', system) lA = Constant(.75, 'lA', system) lB = Constant(1, 'lB', system) lC = Constant(.75, 'lC', system) lD = Constant(1, 'lD', system) lE = Constant(1, 'lE', system) mO = Constant(2, 'mO', system) mA = Constant(.1, 'mA', system) mB = Constant(.1, 'mB', system) mC = Constant(.1, 'mC', system) mD = Constant(.1, 'mD', system) mE = Constant(.1, 'mE', system) I_main = Constant(1, 'I_main', system) I_leg = Constant(.1, 'I_leg', system)
import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__,system) error = 1e-4 error_tol = 1e-10 alpha = 1e6 beta = 1e5 #preload1 = Constant('preload1',0*pi/180,system) l1 = Constant(1,'l1',system) m1 = Constant(1e1,'m1',system) m2 = Constant(1e0,'m2',system) k = Constant(1e4,'k',system) l0 = Constant(1,'l0',system) b = Constant(5e0,'b',system) g = Constant(9.81,'g',system) tinitial = 0 tfinal = 10 tstep = 1/30 t = numpy.r_[tinitial:tfinal:tstep] x1,x1_d,x1_dd = Differentiable('x1',system) x2,x2_d,x2_dd = Differentiable('x2',system)
from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output, PointsOutput from pynamics.particle import Particle import pynamics.integration import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) lA = Constant(2, 'lA', system) lB = Constant(1.5, 'lB', system) lC = Constant(1, 'lC', system) lD = Constant(1, 'lD', system) # mA = Constant(1,'mA',system) # mB = Constant(1,'mB',system) # mC = Constant(1,'mC',system) # g = Constant(9.81,'g',system) # b = Constant(1e0,'b',system) # k = Constant(1e1,'k',system) # tinitial = 0 # tfinal = 5 # tstep = 1/30
#import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) error = 1e-12 tinitial = 0 tfinal = 10 tstep = .001 t = numpy.r_[tinitial:tfinal:tstep] m = Constant(1, 'm', system) g = Constant(9.81, 'g', system) I = Constant(1, 'I', system) J = Constant(1, 'J', system) r = Constant(1, 'L', system) H, H_d = Differentiable( 'H', system, limit=2, ) L, L_d = Differentiable( 'L', system, limit=2, )
from pynamics.variable_types import Differentiable, Constant, Variable from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output from pynamics.particle import Particle import sympy import numpy import scipy.integrate import matplotlib.pyplot as plt plt.ion() from sympy import pi system = System() lA = Constant('lA', 2, system) mA = Constant('mA', 1, system) g = Constant('g', 9.81, system) b = Constant('b', 1e0, system) k = Constant('k', 1e1, system) tinitial = 0 tfinal = 5 tstep = .001 t = numpy.r_[tinitial:tfinal:tstep] preload1 = Constant('preload1', 0 * pi / 180, system) x, x_d, x_dd = Differentiable(system, 'x') y, y_d, y_dd = Differentiable(system, 'y')
from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output, PointsOutput from pynamics.particle import Particle, PseudoParticle import pynamics.integration import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) tol = 1e-9 lO = Constant(name='lO', system=system) lA = Constant(name='lA', system=system) lB = Constant(name='lB', system=system) lC = Constant(name='lC', system=system) lD = Constant(name='lD', system=system) mO = Constant(name='mO', system=system) mA = Constant(name='mA', system=system) mB = Constant(name='mB', system=system) mC = Constant(name='mC', system=system) mD = Constant(name='mD', system=system) L = Constant(name='L', system=system) #V = Constant(name='V',system=system) R = Constant(name='R', system=system) Im = Constant(name='Im', system=system)
from pynamics.system import System from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output,PointsOutput from pynamics.particle import Particle import pynamics.integration #import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__,system) mA = Constant(1,'mA',system) g = Constant(9.81,'g',system) b = Constant(1e0,'b',system) k = Constant(1e6,'k',system) tinitial = 0 tfinal = 5 tstep = 1/100 t = numpy.r_[tinitial:tfinal:tstep] x,x_d,x_dd = Differentiable('x',system) y,y_d,y_dd = Differentiable('y',system) initialvalues = {} initialvalues[x]=0
plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) error = 1e-4 error_tol = 1e-10 from math import sin, cos #alpha = 1e6 #beta = 1e5 #preload1 = Constant('preload1',0*pi/180,system) #l1 = Constant(1,'l1',system) m1 = Constant(1e-1, 'm1', system) m2 = Constant(1e-3, 'm2', system) k = Constant(1.5e2, 'k', system) l0 = Constant(1, 'l0', system) b = Constant(1e0, 'b', system) g = Constant(9.81, 'g', system) k_constraint = Constant(1e4, 'k_constraint', system) b_constraint = Constant(1e5, 'b_constraint', system) tinitial = 0 tfinal = 2 tstep = 1 / 30 t = numpy.r_[tinitial:tfinal:tstep] x1, x1_d, x1_dd = Differentiable('x1', system) y1, y1_d, y1_dd = Differentiable('y1', system)
from pynamics.output import Output, PointsOutput from pynamics.particle import Particle from pynamics.constraint import AccelerationConstraint import pynamics.integration import sympy import numpy import matplotlib.pyplot as plt plt.ion() from math import pi system = System() pynamics.set_system(__name__, system) tol = 1e-7 l = Constant(.5, 'l', system) q0 = Constant(0, 'q0', system) M = Constant(10, 'M', system) m = Constant(10, 'm', system) I_xx = Constant(9, 'I_xx', system) I_yy = Constant(9, 'I_yy', system) I_zz = Constant(9, 'I_zz', system) g = Constant(9.81, 'g', system) b = Constant(1e3, 'b', system) k = Constant(1e2, 'k', system) tinitial = 0 tfinal = 10
from pynamics.body import Body from pynamics.dyadic import Dyadic from pynamics.output import Output from pynamics.particle import Particle import sympy import numpy import scipy.integrate import matplotlib.pyplot as plt plt.ion() from sympy import pi system = System() error = 1e-4 l1 = Constant('l1',1,system) l2 = Constant('l2',1,system) l3 = Constant('l3',1,system) m2 = Constant('m1',1,system) m1 = Constant('m2',1,system) g = Constant('g',9.81,system) b = Constant('b',1e1,system) k = Constant('k',1e1,system) #preload1 = Constant('preload1',0*pi/180,system) k_controller = Constant('k_controller',1e2,system) q2_command = Constant('q2_command',90*pi/180,system) #q2_command= Variable('q2_command') tinitial = 0 tfinal = 1 tstep = .01