bar = LagrangianLinearTIDS(q0,v0,M) bar.setKPtr(K) #bar.display() weight = np.full((nDof),-g*rho*S/l) bar.setFExtPtr(weight) e=0.0 H = np.zeros((1,nDof)) H[0,0]=1. nslaw = NewtonImpactNSL(e) relation = LagrangianLinearTIR(H) inter = Interaction(nslaw, relation) # ------------- # --- Model --- # ------------- impactingBar = NonSmoothDynamicalSystem(t0, T) # add the dynamical system in the non smooth dynamical system impactingBar.insertDynamicalSystem(bar); # link the interaction and the dynamical system impactingBar.link(inter,bar); # ------------------ # --- Simulation ---
#
# Interactions
#
C = [[0., 0.], [0, 0.], [-1., 0.], [1., 0.]]
D = [[1. / Rvalue, 1. / Rvalue, -1., 0.], [1. / Rvalue, 1. / Rvalue, 0., -1.],
[1., 0., 0., 0.], [0., 1., 0., 0.]]
B = [[0., 0., -1. / Cvalue, 1. / Cvalue], [0., 0., 0., 0.]]
LTIRDiodeBridge = FirstOrderLinearTIR(C, B)
LTIRDiodeBridge.setDPtr(D)
nslaw = ComplementarityConditionNSL(4)
InterDiodeBridge = Interaction(4, nslaw, LTIRDiodeBridge, 1)
#
# Model
#
DiodeBridge = Model(t0, T, Modeltitle)
# add the dynamical system in the non smooth dynamical system
DiodeBridge.nonSmoothDynamicalSystem().insertDynamicalSystem(LSDiodeBridge)
# link the interaction and the dynamical system
DiodeBridge.nonSmoothDynamicalSystem().link(InterDiodeBridge, LSDiodeBridge)
#
# Simulation
#
A = zeros((2, 2)) A[0, 1] = 1 x0 = array([1., 10.]) B = 500 * array([[alpha, 1 - alpha], [-(1 - alpha), alpha]]) C = eye(2) D = zeros((2, 2)) # dynamical systems process = FirstOrderLinearDS(x0, A) myProcessRelation = ZhuravlevTwistingR(C, B) myNslaw = RelayNSL(2) myNslaw.display() myProcessInteraction = Interaction(myNslaw, myProcessRelation) filippov = NonSmoothDynamicalSystem(t0, T) filippov.insertDynamicalSystem(process) filippov.link(myProcessInteraction, process) td = TimeDiscretisation(t0, h) s = TimeStepping(filippov, td) myIntegrator = EulerMoreauOSI(theta) s.insertIntegrator(myIntegrator) #TODO python <- SICONOS_RELAY_LEMKE # access dparam osnspb = Relay()
#
# Interactions
#
C = [[0., 0.], [0, 0.], [-1., 0.], [1., 0.]]
D = [[1. / Rvalue, 1. / Rvalue, -1., 0.], [1. / Rvalue, 1. / Rvalue, 0., -1.],
[1., 0., 0., 0.], [0., 1., 0., 0.]]
B = [[0., 0., -1. / Cvalue, 1. / Cvalue], [0., 0., 0., 0.]]
LTIRDiodeBridge = FirstOrderLinearTIR(C, B)
LTIRDiodeBridge.setDPtr(D)
nslaw = ComplementarityConditionNSL(4)
InterDiodeBridge = Interaction(nslaw, LTIRDiodeBridge)
#
# Model
#
DiodeBridge = NonSmoothDynamicalSystem(t0, T)
DiodeBridge.setTitle(Modeltitle)
# add the dynamical system in the non smooth dynamical system
DiodeBridge.insertDynamicalSystem(LSDiodeBridge)
# link the interaction and the dynamical system
DiodeBridge.link(InterDiodeBridge, LSDiodeBridge)
#
# Simulation
# # Interactions # C = [[1.0, 0.0, 0.0]] D = [[0.0]] B = [[0.0], [0.0], [1.0]] LTIRRelayOscillator = FirstOrderLinearTIR(C, B) LTIRRelayOscillator.setDPtr(D) nslaw = RelayNSL(1) InterRelayOscillator = Interaction(nslaw, LTIRRelayOscillator) # # Model # relayOscillator = NonSmoothDynamicalSystem(t0, T) relayOscillator.setTitle(Modeltitle) # add the dynamical system in the non smooth dynamical system relayOscillator.insertDynamicalSystem(LSRelayOscillator) # link the interaction and the dynamical system relayOscillator.link(InterRelayOscillator, LSRelayOscillator) # # Simulation #
def test_bouncing_ball1():
from siconos.kernel import LagrangianLinearTIDS, NewtonImpactNSL, \
LagrangianLinearTIR, Interaction, Model, MoreauJeanOSI, TimeDiscretisation, LCP, TimeStepping
from numpy import array, eye, empty
t0 = 0 # start time
T = 10 # end time
h = 0.005 # time step
r = 0.1 # ball radius
g = 9.81 # gravity
m = 1 # ball mass
e = 0.9 # restitution coeficient
theta = 0.5 # theta scheme
#
# dynamical system
#
x = array([1, 0, 0]) # initial position
v = array([0, 0, 0]) # initial velocity
mass = eye(3) # mass matrix
mass[2, 2] = 3./5 * r * r
# the dynamical system
ball = LagrangianLinearTIDS(x, v, mass)
# set external forces
weight = array([-m * g, 0, 0])
ball.setFExtPtr(weight)
#
# Interactions
#
# ball-floor
H = array([[1, 0, 0]])
nslaw = NewtonImpactNSL(e)
relation = LagrangianLinearTIR(H)
inter = Interaction(1, nslaw, relation)
#
# Model
#
bouncingBall = Model(t0, T)
# add the dynamical system to the non smooth dynamical system
bouncingBall.nonSmoothDynamicalSystem().insertDynamicalSystem(ball)
# link the interaction and the dynamical system
bouncingBall.nonSmoothDynamicalSystem().link(inter, ball)
#
# Simulation
#
# (1) OneStepIntegrators
OSI = MoreauJeanOSI(theta)
OSI.insertDynamicalSystem(ball)
# (2) Time discretisation --
t = TimeDiscretisation(t0, h)
# (3) one step non smooth problem
osnspb = LCP()
# (4) Simulation setup with (1) (2) (3)
s = TimeStepping(t)
s.insertIntegrator(OSI)
s.insertNonSmoothProblem(osnspb)
# end of model definition
#
# computation
#
# simulation initialization
bouncingBall.initialize(s)
#
# save and load data from xml and .dat
#
try:
from siconos.io import save
save(bouncingBall, "bouncingBall.xml")
save(bouncingBall, "bouncingBall.bin")
except:
print("Warning : could not import save from siconos.io")
# the number of time steps
N = (T-t0)/h+1
# Get the values to be plotted
# ->saved in a matrix dataPlot
dataPlot = empty((N, 5))
#
# numpy pointers on dense Siconos vectors
#
q = ball.q()
v = ball.velocity()
p = ball.p(1)
lambda_ = inter.lambda_(1)
#
# initial data
#
dataPlot[0, 0] = t0
dataPlot[0, 1] = q[0]
dataPlot[0, 2] = v[0]
dataPlot[0, 3] = p[0]
dataPlot[0, 4] = lambda_[0]
k = 1
# time loop
while(s.hasNextEvent()):
s.computeOneStep()
dataPlot[k, 0] = s.nextTime()
dataPlot[k, 1] = q[0]
dataPlot[k, 2] = v[0]
dataPlot[k, 3] = p[0]
dataPlot[k, 4] = lambda_[0]
k += 1
#print(s.nextTime())
s.nextStep()
#
# comparison with the reference file
#
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix(os.path.join(working_dir, "data/result.ref")))
assert (norm(dataPlot - ref) < 1e-12)
# Interactions
#
C = [[0., 0., 1.0], [0, 0., 0.0], [-1., 0., 1.0], [1., 0., 0.0]]
D = [[0.0, -1.0, 0., 0.], [1.0, 0.0, 1., -1.], [0.0, -1., 0., 0.],
[0., 1., 0., 0.]]
B = [[0., 0., -1. / Cvalue, 1. / Cvalue], [0., 0., 0., 0.],
[1.0 / Cfilt, 0., 1.0 / Cfilt, 0.]]
LTIRDiodeBridgeCapFilter = FirstOrderLinearTIR(C, B)
LTIRDiodeBridgeCapFilter.setDPtr(D)
nslaw = ComplementarityConditionNSL(4)
InterDiodeBridgeCapFilter = Interaction(nslaw, LTIRDiodeBridgeCapFilter)
#
# Model
#
DiodeBridgeCapFilter = NonSmoothDynamicalSystem(t0, T)
DiodeBridgeCapFilter.setTitle(Modeltitle)
# add the dynamical system in the non smooth dynamical system
DiodeBridgeCapFilter.insertDynamicalSystem(LS1DiodeBridgeCapFilter)
DiodeBridgeCapFilter.insertDynamicalSystem(LS2DiodeBridgeCapFilter)
# link the interaction and the dynamical system
DiodeBridgeCapFilter.link(InterDiodeBridgeCapFilter, LS1DiodeBridgeCapFilter,
LS2DiodeBridgeCapFilter)
#
def test_diode_bridge():
"""Build diode bridge model"""
# dynamical system
bridge_ds = FirstOrderLinearDS(init_state, A)
# interaction
diode_bridge_relation = FirstOrderLinearTIR(C, B)
diode_bridge_relation.setDPtr(D)
nslaw = ComplementarityConditionNSL(4)
bridge_interaction = Interaction(4, nslaw, diode_bridge_relation, 1)
# Model
diode_bridge = Model(t0, total_time, model_title)
# add the dynamical system in the non smooth dynamical system
diode_bridge.nonSmoothDynamicalSystem().insertDynamicalSystem(bridge_ds)
# link the interaction and the dynamical system
diode_bridge.nonSmoothDynamicalSystem().link(bridge_interaction, bridge_ds)
# Simulation
# (1) OneStepIntegrators
theta = 0.5
integrator = EulerMoreauOSI(theta)
integrator.insertDynamicalSystem(bridge_ds)
# (2) Time discretisation
time_discretisation = TimeDiscretisation(t0, time_step)
# (3) Non smooth problem
non_smooth_problem = LCP()
# (4) Simulation setup with (1) (2) (3)
bridge_simulation = TimeStepping(time_discretisation, integrator,
non_smooth_problem)
# simulation initialization
diode_bridge.initialize(bridge_simulation)
k = 0
h = bridge_simulation.timeStep()
# Number of time steps
N = (total_time - t0) / h
# Get the values to be plotted
# ->saved in a matrix dataPlot
data_plot = empty([N, 8])
x = bridge_ds.x()
print("Initial state : ", x)
y = bridge_interaction.y(0)
print("First y : ", y)
lambda_ = bridge_interaction.lambda_(0)
# For the initial time step:
# time
data_plot[k, 0] = t0
# inductor voltage
data_plot[k, 1] = x[0]
# inductor current
data_plot[k, 2] = x[1]
# diode R1 current
data_plot[k, 3] = y[0]
# diode R1 voltage
data_plot[k, 4] = -lambda_[0]
# diode F2 voltage
data_plot[k, 5] = -lambda_[1]
# diode F1 current
data_plot[k, 6] = lambda_[2]
# resistor current
data_plot[k, 7] = y[0] + lambda_[2]
k += 1
while k < N:
bridge_simulation.computeOneStep()
#non_smooth_problem.display()
data_plot[k, 0] = bridge_simulation.nextTime()
# inductor voltage
data_plot[k, 1] = x[0]
# inductor current
data_plot[k, 2] = x[1]
# diode R1 current
data_plot[k, 3] = y[0]
# diode R1 voltage
data_plot[k, 4] = -lambda_[0]
# diode F2 voltage
data_plot[k, 5] = -lambda_[1]
# diode F1 current
data_plot[k, 6] = lambda_[2]
# resistor current
data_plot[k, 7] = y[0] + lambda_[2]
k += 1
bridge_simulation.nextStep()
#
# comparison with the reference file
#
ref = getMatrix(
SimpleMatrix(os.path.join(working_dir, "data/diode_bridge.ref")))
assert norm(data_plot - ref) < 1e-12
return ref, data_plot
# # Interactions # C = [[-1., 0.]] D = [[Rvalue]] B = [[-1. / Cvalue], [0.]] LTIRCircuitRLCD = FirstOrderLinearTIR(C, B) LTIRCircuitRLCD.setDPtr(D) nslaw = ComplementarityConditionNSL(1) InterCircuitRLCD = Interaction(1, nslaw, LTIRCircuitRLCD, 1) # # Model # CircuitRLCD = Model(t0, T, Modeltitle) # add the dynamical system in the non smooth dynamical system CircuitRLCD.nonSmoothDynamicalSystem().insertDynamicalSystem(LSCircuitRLCD) # link the interaction and the dynamical system CircuitRLCD.nonSmoothDynamicalSystem().link(InterCircuitRLCD, LSCircuitRLCD) # # Simulation #
# # Interactions # C = [[1.0, 0.0, 0.0]] D = [[0.0]] B = [[0.0], [0.0], [1.0]] LTIRRelayOscillator = FirstOrderLinearTIR(C, B) LTIRRelayOscillator.setDPtr(D) nslaw = RelayNSL(1) InterRelayOscillator = Interaction(1, nslaw, LTIRRelayOscillator, 1) # # Model # RelayOscillator = Model(t0, T, Modeltitle) # add the dynamical system in the non smooth dynamical system myNSDS = NonSmoothDynamicalSystem() myNSDS.insertDynamicalSystem(LSRelayOscillator) # link the interaction and the dynamical system myNSDS.link(InterRelayOscillator, LSRelayOscillator) RelayOscillator.setNonSmoothDynamicalSystemPtr(myNSDS)
