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) #accelerationvariable('xA') #accelerationvariable('yA') qA,qA_d,qA_dd = Differentiable(system,'qA') xB,xB_d,xB_dd = Differentiable(system,'xB') yB,yB_d,yB_dd = Differentiable(system,'yB') qB,qB_d,qB_dd = Differentiable(system,'qB') fNAx = Variable('fNAx') fNAy = Variable('fNAy') fABx = Variable('fABx') fABy = Variable('fABy') initialvalues = {} #initialvalues[xA]=.02 #initialvalues[xA_d]=0 #initialvalues[yA]=0 #initialvalues[yA_d]=0 initialvalues[qA]=0*pi/180 initialvalues[qA_d]=0*pi/180 initialvalues[xB]=.06 initialvalues[xB_d]=0 initialvalues[yB]=0 initialvalues[yB_d]=0
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] preload1 = Constant('preload1', 0 * pi / 180, system) preload2 = Constant('preload2', 0 * pi / 180, system) preload3 = Constant('preload3', 0 * pi / 180, system) fx = Variable('fx') fy = Variable('fy') #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) #Izz_C = Constant('Izz_C',7.9239401855911e-07,system) qA, qA_d, qA_dd = Differentiable(system, 'qA') qB, qB_d, qB_dd = Differentiable(system, 'qB') qC, qC_d, qC_dd = Differentiable(system, 'qC')
lA = Constant('lA', 7.5 / 100, system) lB = Constant('lB', 20 / 100, system) mA = Constant('mA', 10 / 1000, system) mB = Constant('mB', 100 / 1000, system) g = Constant('g', 9.81, system) tinitial = 0 tfinal = 10 tstep = .001 t = numpy.r_[tinitial:tfinal:tstep] Ixx_A = Constant('Ixx_A', 50 / 1000 / 100 / 100, system) Iyy_A = Variable('Iyy_A') Izz_A = Variable('Izz_A') Ixx_B = Constant('Ixx_B', 2500 / 1000 / 100 / 100, system) Iyy_B = Constant('Iyy_B', 500 / 1000 / 100 / 100, system) Izz_B = Constant('Izz_B', 2000 / 1000 / 100 / 100, system) qA, qA_d, qA_dd = Differentiable(system, 'qA') qB, qB_d, qB_dd = Differentiable(system, 'qB') initialvalues = {} initialvalues[qA] = 90 * pi / 180 initialvalues[qA_d] = 0 * pi / 180 initialvalues[qB] = .5 * pi / 180 initialvalues[qB_d] = 0 * pi / 180 statevariables = system.get_q(0) + system.get_q(1)
from pynamics.dyadic import Dyadic from pynamics.output import Output import sympy import numpy import scipy.integrate import scipy import scipy.linalg import matplotlib.pyplot as plt plt.ion() from sympy import pi system = System() #e1 = Variable('e1') #e2 = Variable('e2') Ex = Variable('Ex') Ey = Variable('Ey') Ez = Variable('Ez') F1x = Variable('F1x') F1y = Variable('F1y') F1z = Variable('F1z') F2x = Variable('F2x') F2y = Variable('F2y') F2z = Variable('F2z') x1 = Variable('x1') y1 = Variable('y1') z1 = Variable('z1') x2 = Variable('x2') y2 = Variable('y2') z2 = Variable('z2') xe = Variable('xe')