Spaces:
Running
Running
File size: 10,415 Bytes
6a86ad5 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 |
from sympy.physics.mechanics import (Body, Lagrangian, KanesMethod, LagrangesMethod,
RigidBody, Particle)
from sympy.physics.mechanics.body_base import BodyBase
from sympy.physics.mechanics.method import _Methods
from sympy import Matrix
from sympy.utilities.exceptions import sympy_deprecation_warning
__all__ = ['JointsMethod']
class JointsMethod(_Methods):
"""Method for formulating the equations of motion using a set of interconnected bodies with joints.
.. deprecated:: 1.13
The JointsMethod class is deprecated. Its functionality has been
replaced by the new :class:`~.System` class.
Parameters
==========
newtonion : Body or ReferenceFrame
The newtonion(inertial) frame.
*joints : Joint
The joints in the system
Attributes
==========
q, u : iterable
Iterable of the generalized coordinates and speeds
bodies : iterable
Iterable of Body objects in the system.
loads : iterable
Iterable of (Point, vector) or (ReferenceFrame, vector) tuples
describing the forces on the system.
mass_matrix : Matrix, shape(n, n)
The system's mass matrix
forcing : Matrix, shape(n, 1)
The system's forcing vector
mass_matrix_full : Matrix, shape(2*n, 2*n)
The "mass matrix" for the u's and q's
forcing_full : Matrix, shape(2*n, 1)
The "forcing vector" for the u's and q's
method : KanesMethod or Lagrange's method
Method's object.
kdes : iterable
Iterable of kde in they system.
Examples
========
As Body and JointsMethod have been deprecated, the following examples are
for illustrative purposes only. The functionality of Body is fully captured
by :class:`~.RigidBody` and :class:`~.Particle` and the functionality of
JointsMethod is fully captured by :class:`~.System`. To ignore the
deprecation warning we can use the ignore_warnings context manager.
>>> from sympy.utilities.exceptions import ignore_warnings
This is a simple example for a one degree of freedom translational
spring-mass-damper.
>>> from sympy import symbols
>>> from sympy.physics.mechanics import Body, JointsMethod, PrismaticJoint
>>> from sympy.physics.vector import dynamicsymbols
>>> c, k = symbols('c k')
>>> x, v = dynamicsymbols('x v')
>>> with ignore_warnings(DeprecationWarning):
... wall = Body('W')
... body = Body('B')
>>> J = PrismaticJoint('J', wall, body, coordinates=x, speeds=v)
>>> wall.apply_force(c*v*wall.x, reaction_body=body)
>>> wall.apply_force(k*x*wall.x, reaction_body=body)
>>> with ignore_warnings(DeprecationWarning):
... method = JointsMethod(wall, J)
>>> method.form_eoms()
Matrix([[-B_mass*Derivative(v(t), t) - c*v(t) - k*x(t)]])
>>> M = method.mass_matrix_full
>>> F = method.forcing_full
>>> rhs = M.LUsolve(F)
>>> rhs
Matrix([
[ v(t)],
[(-c*v(t) - k*x(t))/B_mass]])
Notes
=====
``JointsMethod`` currently only works with systems that do not have any
configuration or motion constraints.
"""
def __init__(self, newtonion, *joints):
sympy_deprecation_warning(
"""
The JointsMethod class is deprecated.
Its functionality has been replaced by the new System class.
""",
deprecated_since_version="1.13",
active_deprecations_target="deprecated-mechanics-jointsmethod"
)
if isinstance(newtonion, BodyBase):
self.frame = newtonion.frame
else:
self.frame = newtonion
self._joints = joints
self._bodies = self._generate_bodylist()
self._loads = self._generate_loadlist()
self._q = self._generate_q()
self._u = self._generate_u()
self._kdes = self._generate_kdes()
self._method = None
@property
def bodies(self):
"""List of bodies in they system."""
return self._bodies
@property
def loads(self):
"""List of loads on the system."""
return self._loads
@property
def q(self):
"""List of the generalized coordinates."""
return self._q
@property
def u(self):
"""List of the generalized speeds."""
return self._u
@property
def kdes(self):
"""List of the generalized coordinates."""
return self._kdes
@property
def forcing_full(self):
"""The "forcing vector" for the u's and q's."""
return self.method.forcing_full
@property
def mass_matrix_full(self):
"""The "mass matrix" for the u's and q's."""
return self.method.mass_matrix_full
@property
def mass_matrix(self):
"""The system's mass matrix."""
return self.method.mass_matrix
@property
def forcing(self):
"""The system's forcing vector."""
return self.method.forcing
@property
def method(self):
"""Object of method used to form equations of systems."""
return self._method
def _generate_bodylist(self):
bodies = []
for joint in self._joints:
if joint.child not in bodies:
bodies.append(joint.child)
if joint.parent not in bodies:
bodies.append(joint.parent)
return bodies
def _generate_loadlist(self):
load_list = []
for body in self.bodies:
if isinstance(body, Body):
load_list.extend(body.loads)
return load_list
def _generate_q(self):
q_ind = []
for joint in self._joints:
for coordinate in joint.coordinates:
if coordinate in q_ind:
raise ValueError('Coordinates of joints should be unique.')
q_ind.append(coordinate)
return Matrix(q_ind)
def _generate_u(self):
u_ind = []
for joint in self._joints:
for speed in joint.speeds:
if speed in u_ind:
raise ValueError('Speeds of joints should be unique.')
u_ind.append(speed)
return Matrix(u_ind)
def _generate_kdes(self):
kd_ind = Matrix(1, 0, []).T
for joint in self._joints:
kd_ind = kd_ind.col_join(joint.kdes)
return kd_ind
def _convert_bodies(self):
# Convert `Body` to `Particle` and `RigidBody`
bodylist = []
for body in self.bodies:
if not isinstance(body, Body):
bodylist.append(body)
continue
if body.is_rigidbody:
rb = RigidBody(body.name, body.masscenter, body.frame, body.mass,
(body.central_inertia, body.masscenter))
rb.potential_energy = body.potential_energy
bodylist.append(rb)
else:
part = Particle(body.name, body.masscenter, body.mass)
part.potential_energy = body.potential_energy
bodylist.append(part)
return bodylist
def form_eoms(self, method=KanesMethod):
"""Method to form system's equation of motions.
Parameters
==========
method : Class
Class name of method.
Returns
========
Matrix
Vector of equations of motions.
Examples
========
As Body and JointsMethod have been deprecated, the following examples
are for illustrative purposes only. The functionality of Body is fully
captured by :class:`~.RigidBody` and :class:`~.Particle` and the
functionality of JointsMethod is fully captured by :class:`~.System`. To
ignore the deprecation warning we can use the ignore_warnings context
manager.
>>> from sympy.utilities.exceptions import ignore_warnings
This is a simple example for a one degree of freedom translational
spring-mass-damper.
>>> from sympy import S, symbols
>>> from sympy.physics.mechanics import LagrangesMethod, dynamicsymbols, Body
>>> from sympy.physics.mechanics import PrismaticJoint, JointsMethod
>>> q = dynamicsymbols('q')
>>> qd = dynamicsymbols('q', 1)
>>> m, k, b = symbols('m k b')
>>> with ignore_warnings(DeprecationWarning):
... wall = Body('W')
... part = Body('P', mass=m)
>>> part.potential_energy = k * q**2 / S(2)
>>> J = PrismaticJoint('J', wall, part, coordinates=q, speeds=qd)
>>> wall.apply_force(b * qd * wall.x, reaction_body=part)
>>> with ignore_warnings(DeprecationWarning):
... method = JointsMethod(wall, J)
>>> method.form_eoms(LagrangesMethod)
Matrix([[b*Derivative(q(t), t) + k*q(t) + m*Derivative(q(t), (t, 2))]])
We can also solve for the states using the 'rhs' method.
>>> method.rhs()
Matrix([
[ Derivative(q(t), t)],
[(-b*Derivative(q(t), t) - k*q(t))/m]])
"""
bodylist = self._convert_bodies()
if issubclass(method, LagrangesMethod): #LagrangesMethod or similar
L = Lagrangian(self.frame, *bodylist)
self._method = method(L, self.q, self.loads, bodylist, self.frame)
else: #KanesMethod or similar
self._method = method(self.frame, q_ind=self.q, u_ind=self.u, kd_eqs=self.kdes,
forcelist=self.loads, bodies=bodylist)
soln = self.method._form_eoms()
return soln
def rhs(self, inv_method=None):
"""Returns equations that can be solved numerically.
Parameters
==========
inv_method : str
The specific sympy inverse matrix calculation method to use. For a
list of valid methods, see
:meth:`~sympy.matrices.matrixbase.MatrixBase.inv`
Returns
========
Matrix
Numerically solvable equations.
See Also
========
sympy.physics.mechanics.kane.KanesMethod.rhs:
KanesMethod's rhs function.
sympy.physics.mechanics.lagrange.LagrangesMethod.rhs:
LagrangesMethod's rhs function.
"""
return self.method.rhs(inv_method=inv_method)
|