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Copy pathstick_slip.json
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586 lines (586 loc) · 13 KB
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"events": [
{
"name": "E_slip_to_stick",
"type": "ZeroCrossing",
"func_evt": "slip_to_stick_evt",
"func_act": "slip_to_stick_act",
"tolerance": "1e-3",
"id": 1755090589822
},
{
"name": "E_stick_to_slip",
"type": "ZeroCrossing",
"func_evt": "stick_to_slip_evt",
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"pythonCode": "import numpy as np\n#initial position and velocity\nx0, v0 = 0, 0\n\n#system parameters\nm = 20.0 # mass\nk = 70.0 # spring constant\nd = 10.0 # spring damping\nmu = 1.5 # friction coefficient\ng = 9.81 # gravity\nv = 3.0 # belt velocity magnitude\nT = 50.0 # excitation period\n\nF_c = mu * m * g # friction force\n\n#function for belt velocity\ndef v_belt(t):\n return v * np.sin(2*np.pi*t/T)\n\n#function for coulomb friction force\ndef f_coulomb(v, vb):\n return F_c * np.sign(vb - v)\n\ndef slip_to_stick_evt(t):\n _1, v_box , _2 = switch_4()\n _1, v_belt, _2 = source_12()\n dv = v_box - v_belt\n\n return dv\n\ndef slip_to_stick_act(t):\n\n #change switch state\n switch_4.select(0)\n\n integrator_1_10.off()\n function_11.off()\n\n E_slip_to_stick.off()\n E_stick_to_slip.on()\n\ndef stick_to_slip_evt(t):\n _1, F, _2 = add_8()\n return F_c - abs(F)\n\ndef stick_to_slip_act(t):\n\n #change switch state\n switch_4.select(1)\n\n integrator_1_10.on()\n function_11.on()\n\n #set integrator state\n _1, v_box , _2 = switch_4()\n integrator_1_10.engine.set(v_box)\n\n E_slip_to_stick.on()\n E_stick_to_slip.off()\n"
}
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