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PlanarMechanics.CentrifugalTest.md

PlanarMechanics.CentrifugalTest ​

Centrifugal acceleration test: a body on a rotating arm with an AbsoluteVelocity sensor.

Translates the "AbsoluteAccCentrifugal" test from test_PlanarMechanics.jl. A body of mass 1 is attached via a 10m arm to a revolute joint spinning at w=10 rad/s with no gravity. The sensor measures absolute velocity in the world frame.

Usage ​

MultibodyComponents.PlanarMechanics.CentrifugalTest()

Behavior ​

julia
using MultibodyComponents #hide
using ModelingToolkit #hide
@named sys = MultibodyComponents.PlanarMechanics.CentrifugalTest() #hide
full_equations(sys) #hide
<< @example-block not executed in draft mode >>

Source ​

dyad
"""
Centrifugal acceleration test: a body on a rotating arm with an AbsoluteVelocity sensor.

Translates the "AbsoluteAccCentrifugal" test from test_PlanarMechanics.jl.
A body of mass 1 is attached via a 10m arm to a revolute joint spinning at w=10 rad/s
with no gravity. The sensor measures absolute velocity in the world frame.
"""
test component CentrifugalTest
  world = World(g = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 90, "y1": 450, "x2": 190, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  revolute = Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 230, "y1": 450, "x2": 330, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  rod = FixedTranslation(r = [10.0, 0.0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 390, "y1": 450, "x2": 490, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  body = Body(m = 1.0, I = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 530, "y1": 450, "x2": 630, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  abs_v_sensor = AbsoluteVelocity(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 790, "y1": 450, "x2": 890, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
relations
  initial revolute.phi = 0.0
  initial revolute.w = 10.0
  connect(world.frame_b, revolute.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(revolute.frame_b, rod.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rod.frame_b, body.frame_a)
  connect(body.frame_a, abs_v_sensor.frame_a)
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
end
Flattened Source
dyad
"""
Centrifugal acceleration test: a body on a rotating arm with an AbsoluteVelocity sensor.

Translates the "AbsoluteAccCentrifugal" test from test_PlanarMechanics.jl.
A body of mass 1 is attached via a 10m arm to a revolute joint spinning at w=10 rad/s
with no gravity. The sensor measures absolute velocity in the world frame.
"""
test component CentrifugalTest
  world = World(g = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 90, "y1": 450, "x2": 190, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  revolute = Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 230, "y1": 450, "x2": 330, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  rod = FixedTranslation(r = [10.0, 0.0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 390, "y1": 450, "x2": 490, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  body = Body(m = 1.0, I = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 530, "y1": 450, "x2": 630, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  abs_v_sensor = AbsoluteVelocity(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 790, "y1": 450, "x2": 890, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
relations
  initial revolute.phi = 0.0
  initial revolute.w = 10.0
  connect(world.frame_b, revolute.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(revolute.frame_b, rod.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rod.frame_b, body.frame_a)
  connect(body.frame_a, abs_v_sensor.frame_a)
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
end


Test Cases ​

julia
using MultibodyComponents
using DyadInterface: TransientAnalysis, rebuild_sol, ODEAlg
using ModelingToolkit: toggle_namespacing, get_initial_conditions, @named
using CSV, DataFrames, Plots

snapshotsdir = joinpath(dirname(dirname(pathof(MultibodyComponents))), "test", "snapshots")
<< @setup-block not executed in draft mode >>

Test Case case1 ​

julia
@named model_case1 = MultibodyComponents.PlanarMechanics.CentrifugalTest()
model_case1 = toggle_namespacing(model_case1, false)

model_case1 = toggle_namespacing(model_case1, true)
result_case1 = TransientAnalysis(; model = model_case1, alg = ODEAlg.Auto(), start = 0e+0, stop = 3e+0, abstol=1e-6, reltol=1e-6)
sol_case1 = rebuild_sol(result_case1)
<< @setup-block not executed in draft mode >>