import sys import os import numpy as np import pandas as pd from uraeus.nmbd.python import configuration json_file = os.path.abspath( '../symenv/templates/double_wishbone_bellcrank/data/double_wishbone_bellcrank_cfg.json' ) AX2_config = configuration('rear_axle') AX2_config.construct_from_json(json_file) # ============================================================================= # Numerical Data # ============================================================================= # Tire Radius TR = 254 # Wheel Base WB = 1600 # Upper Control Arms AX2_config.hpr_ucaf.flat[:] = [-60 + WB, 250, 52 + TR] AX2_config.hpr_ucar.flat[:] = [-247 + WB, 276, 25 + TR] AX2_config.hpr_ucao.flat[:] = [0 + WB, 462, 90 + TR] # Lower Control Arms AX2_config.hpr_lcaf.flat[:] = [-60 + WB, 250, -84 + TR]
numdata_dir = os.path.join(project_dir, 'numenv/python/src/') results_dir = os.path.join(project_dir, 'simenv/results/') # ================================================================== # # Initializations # ================================================================== # # TODO : User Declared model_name = 'tchebycheff' # getting the configuration .json file # TODO : User Declared config_file = os.path.join(symdata_dir, 'tchebycheff_cfg.json') # Creating a numerical configuration instance num_config = configuration('base') # constructing the numerical configuration instance from # imported JSON file num_config.construct_from_json(config_file) # Getting the numrical topology module model = import_source(numdata_dir, model_name) # Creating the numerical model from the imported module num_model = multibody_system(model) # Assigning this configuration instance to the numerical model num_model.topology.config = num_config # ================================================================== # # Numerical Configuration of the System # ================================================================== #
import sys import os import numpy as np import pandas as pd from uraeus.nmbd.python import configuration json_file = os.path.abspath( '../symenv/templates/rack_steering/data/rack_steering_cfg.json') ST1_config = configuration('front_steer') ST1_config.construct_from_json(json_file) # ============================================================================= # Numerical Data # ============================================================================= # Tire Radius TR = 254 ST1_config.hpr_rack_end.flat[:] = [-122, 227, -122 + TR] ST1_config.vcs_y.flat[:] = [0, 1, 0] ST1_config.s_rack_radius = 12 # Loading data into the configuration instance ST1_config.assemble() ST1_config.export_json('config_inputs', 'ST1')
import sys import os import numpy as np import pandas as pd from uraeus.nmbd.python import configuration json_file = os.path.abspath( '../symenv/templates/drive_shafts_v2/data/drive_shafts_v2_cfg.json') DR2_config = configuration('DR2_v2') DR2_config.construct_from_json(json_file) # ============================================================================= # Numerical Data # ============================================================================= # Wheel Base WB = 1600 TR = 254 DR2_config.hpr_diff_input.flat[:] = [WB - 40, 50, TR + 20] DR2_config.hpr_inner_cv.flat[:] = [WB - 40, 100, TR + 20] DR2_config.hpr_outer_cv.flat[:] = [WB, 525 - 100, TR] # Helpers DR2_config.vcs_x.flat[:] = [1, 0, 0] DR2_config.vcs_y.flat[:] = [0, 1, 0] DR2_config.vcs_z.flat[:] = [0, 0, 1] DR2_config.s_shafts_radius = 15
import sys import os import numpy as np import pandas as pd from uraeus.nmbd.python import configuration json_file = os.path.abspath( '../symenv/templates/double_wishbone_bellcrank/data/double_wishbone_bellcrank_cfg.json' ) AX1_config = configuration('front_axle') AX1_config.construct_from_json(json_file) # ============================================================================= # Numerical Data # ============================================================================= # Tire Radius TR = 254 # Upper Control Arms AX1_config.hpr_ucaf.flat[:] = [-235, 213, 89 + TR] AX1_config.hpr_ucar.flat[:] = [170, 262, 61 + TR] AX1_config.hpr_ucao.flat[:] = [7, 466, 80 + TR] # Lower Control Arms AX1_config.hpr_lcaf.flat[:] = [-235, 213, -90 + TR] AX1_config.hpr_lcar.flat[:] = [170, 262, -62 + TR] AX1_config.hpr_lcao.flat[:] = [-7, 483, -80 + TR]
import sys import os import numpy as np import pandas as pd from uraeus.nmbd.python import configuration json_file = os.path.abspath( '../symenv/templates/chassis/data/chassis_cfg.json') CH_config = configuration('chassis') CH_config.construct_from_json(json_file) # ============================================================================= # Numerical Data # ============================================================================= # Wheel Base WB = 1600 CH_config.hps_CG.flat[:] = [WB / 2, 0, 300] CH_config.s_CG_radius = 80 # Loading data into the configuration instance CH_config.assemble() CH_config.m_rbs_chassis = 250 * 1e3 CH_config.Jbar_rbs_chassis = np.array([[120 * 1e9, 0, 0], [0, 150 * 1e9, 0], [0, 0, 150 * 1e9]])
import sys import os import numpy as np import pandas as pd from uraeus.nmbd.python import configuration json_file = os.path.abspath( '../symenv/templates/drive_shafts_v1/data/drive_shafts_v1_cfg.json') DR2_config = configuration('DR2_v1') DR2_config.construct_from_json(json_file) # ============================================================================= # Numerical Data # ============================================================================= # Wheel Base WB = 1600 TR = 254 DR2_config.hpr_diff_input.flat[:] = [WB - 0, 50, TR + 20] DR2_config.hpr_inner_cv.flat[:] = [WB - 0, 100, TR + 20] DR2_config.hpr_outer_cv.flat[:] = [WB, 525 - 100, TR] # Helpers DR2_config.vcs_x.flat[:] = [1, 0, 0] DR2_config.vcs_y.flat[:] = [0, 1, 0] DR2_config.vcs_z.flat[:] = [0, 0, 1] DR2_config.s_shafts_radius = 15