04.02.

23, 20:18 22W_TM3_MB-CED: Python-Code für die Animation des Doppelpendels

Technische Mechanik III (22W)

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Painel / Meus cursos / 22W_TM3_MB-CED / Numerik und Tools / Python-Code für die Animation des Doppelpendels

Python-Code für die Animation des Doppelpendels

import sys
from scipy.integrate import odeint
from math import pi, sin, cos
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.animation as animation

s1 = 0.5
d1 = 1.0
s2 = 0.5
d2 = 1.0
k1 = 0.5*s1
k2 = 0.5*s2
m1 = 1.0
m2 = 1.0
g = 9.81

z0 = [1.02*0.8*pi,0.0,-0.0*pi,0.0]
N=600
tend = 10.0
toutput = np.linspace(0.0,tend,N)

def appellpendel(a,z,t):
    phi1tt = a[0]
    phi2tt = a[1]
    phi1 = z[0]
    phi1t = z[1]
    phi2 = z[2]
    phi2t = z[3]

    a1x = -s1*sin(phi1)*phi1t**2 + s1*cos(phi1)*phi1tt

    a1y = -s1*cos(phi1)*phi1t**2 - s1*sin(phi1)*phi1tt
    a2x = -d1*sin(phi1)*phi1t**2 + d1*cos(phi1)*phi1tt \
        -s2*sin(phi2)*phi2t**2 + s2*cos(phi2)*phi2tt
    a2y = -d1*cos(phi1)*phi1t**2 - d1*sin(phi1)*phi1tt \
        -s2*cos(phi2)*phi2t**2 - s2*sin(phi2)*phi2tt
    return 0.5*m1*(a1x**2 + a1y**2 + k1**2*phi1tt**2) +\
        0.5*m2*(a2x**2 + a2y**2 + k2**2*phi2tt**2)

def rhspendel(z,t):
    phi1 = z[0]
    phi1t = z[1]
    phi2 = z[2]
    phi2t = z[3]

    c = appellpendel([0,0],z,t)
    S1 = appellpendel([1,0],z,t)
    S2 = appellpendel([-1,0],z,t)
    a11 = 0.5*(S1 + S2) - c
    b1 = 0.5*(S1-S2)
    S1 = appellpendel([0,1],z,t)

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04.02.23, 20:18 22W_TM3_MB-CED: Python-Code für die Animation des Doppelpendels

    S2 = appellpendel([0,-1],z,t)
    a22 = 0.5*(S1 + S2) - c
    b2 = 0.5*(S1-S2)    
    a12 = appellpendel([1,1],z,t) -a11 - a22 - b1 - b2 - c

    Q1 = -(m1*s1 + m2*d1)*g*sin(phi1)

    Q2 = -m2*s2*g*sin(phi2)
    Delta = 4.0*a11*a22 - a12**2
    phi1tt = ((Q1-b1)*2.0*a22 - (Q2-b2)*a12)/Delta
    phi2tt = ((Q2-b2)*2.0*a11 - (Q1-b1)*a12)/Delta
    return [phi1t,phi1tt,phi2t,phi2tt]

ergebnis = odeint(rhspendel,z0,toutput)

phi1_tab = ergebnis[ : , 0]
omega1_tab = ergebnis[ : , 1]
phi2_tab = ergebnis[ : , 2]
omega2_tab = ergebnis[ : , 3]

xD1 = d1*np.sin(phi1_tab)
yD1 = -d1*np.cos(phi1_tab)
xD2 = xD1 + d2*np.sin(phi2_tab)
yD2 = yD1 - d2*np.cos(phi2_tab)

plt.figure(1)
plt.plot(xD1, yD1,"b-",linewidth=2)
plt.plot(xD2, yD2,"r--")
plt.axis('equal')
plt.xlabel("$x$")
plt.ylabel("$y$")
plt.savefig('tm3-dy-doppelpendel-D1D2_2.pdf')
#plt.show()

#Animation
fig = plt.figure(2)
ax = fig.add_subplot(
    111,
    autoscale_on=False,
    xlim=(-d1-d2,d1+d2),
    ylim=(-d1-d2, d1+d2),
    aspect='equal'
)
ax.axhline(color='0.6', linestyle='dashed')

line1, = ax.plot([], [], 'ko-', lw=4)

line2, = ax.plot([], [], 'r--', lw=1)

def animate(i):
    x = [0,xD1[i],xD2[i]]
    y = [0,yD1[i],yD2[i]]
    line1.set_data(x, y)
    line2.set_data(xD2[0:i],yD2[0:i])
    return line1, line2

plt.tight_layout()
if 'save' in sys.argv:
    ani = animation.FuncAnimation(fig, animate, range(N), interval=25)
    ani.save('doppelpendel_var2.gif', dpi=80, writer='pillow') #ani.save('kurbelschwinge.gif', dpi=80, writer='imagemagick')
else:
    ani = animation.FuncAnimation(fig, animate, range(N), interval=30,repeat_delay=2000)
    plt.show()

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04.02.23, 20:18 22W_TM3_MB-CED: Python-Code für die Animation des Doppelpendels

Última atualização: Sonntag, 19 Dez 2021, 19:40

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