本文整理汇总了Python中sympy.physics.mechanics.LagrangesMethod.solve_multipliers方法的典型用法代码示例。如果您正苦于以下问题：Python LagrangesMethod.solve_multipliers方法的具体用法？Python LagrangesMethod.solve_multipliers怎么用？Python LagrangesMethod.solve_multipliers使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类sympy.physics.mechanics.LagrangesMethod的用法示例。
在下文中一共展示了LagrangesMethod.solve_multipliers方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: test_linearize_pendulum_lagrange_nonminimal
# 需要导入模块: from sympy.physics.mechanics import LagrangesMethod [as 别名]
# 或者: from sympy.physics.mechanics.LagrangesMethod import solve_multipliers [as 别名]
def test_linearize_pendulum_lagrange_nonminimal():
q1, q2 = dynamicsymbols('q1:3')
q1d, q2d = dynamicsymbols('q1:3', level=1)
L, m, t = symbols('L, m, t')
g = 9.8
# Compose World Frame
N = ReferenceFrame('N')
pN = Point('N*')
pN.set_vel(N, 0)
# A.x is along the pendulum
theta1 = atan(q2/q1)
A = N.orientnew('A', 'axis', [theta1, N.z])
# Create point P, the pendulum mass
P = pN.locatenew('P1', q1*N.x + q2*N.y)
P.set_vel(N, P.pos_from(pN).dt(N))
pP = Particle('pP', P, m)
# Constraint Equations
f_c = Matrix([q1**2 + q2**2 - L**2])
# Calculate the lagrangian, and form the equations of motion
Lag = Lagrangian(N, pP)
LM = LagrangesMethod(Lag, [q1, q2], hol_coneqs=f_c, forcelist=[(P, m*g*N.x)], frame=N)
LM.form_lagranges_equations()
# Compose operating point
op_point = {q1: L, q2: 0, q1d: 0, q2d: 0, q1d.diff(t): 0, q2d.diff(t): 0}
# Solve for multiplier operating point
lam_op = LM.solve_multipliers(op_point=op_point)
op_point.update(lam_op)
# Perform the Linearization
A, B, inp_vec = LM.linearize([q2], [q2d], [q1], [q1d],
op_point=op_point, A_and_B=True)
assert A == Matrix([[0, 1], [-9.8/L, 0]])
assert B == Matrix([])示例2: test_nonminimal_pendulum
# 需要导入模块: from sympy.physics.mechanics import LagrangesMethod [as 别名]
# 或者: from sympy.physics.mechanics.LagrangesMethod import solve_multipliers [as 别名]
def test_nonminimal_pendulum():
q1, q2 = dynamicsymbols('q1:3')
q1d, q2d = dynamicsymbols('q1:3', level=1)
L, m, t = symbols('L, m, t')
g = 9.8
# Compose World Frame
N = ReferenceFrame('N')
pN = Point('N*')
pN.set_vel(N, 0)
# Create point P, the pendulum mass
P = pN.locatenew('P1', q1*N.x + q2*N.y)
P.set_vel(N, P.pos_from(pN).dt(N))
pP = Particle('pP', P, m)
# Constraint Equations
f_c = Matrix([q1**2 + q2**2 - L**2])
# Calculate the lagrangian, and form the equations of motion
Lag = Lagrangian(N, pP)
LM = LagrangesMethod(Lag, [q1, q2], hol_coneqs=f_c,
forcelist=[(P, m*g*N.x)], frame=N)
LM.form_lagranges_equations()
# Check solution
lam1 = LM.lam_vec[0, 0]
eom_sol = Matrix([[m*Derivative(q1, t, t) - 9.8*m + 2*lam1*q1],
[m*Derivative(q2, t, t) + 2*lam1*q2]])
assert LM.eom == eom_sol
# Check multiplier solution
lam_sol = Matrix([(19.6*q1 + 2*q1d**2 + 2*q2d**2)/(4*q1**2/m + 4*q2**2/m)])
assert LM.solve_multipliers(sol_type='Matrix') == lam_sol