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Flowchart Hamilton

A Flowchart of the Hamilton program written in Python.

Uploaded by

Senne Van Baelen
Copyright
© Attribution Non-Commercial (BY-NC)
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190 views1 page

Flowchart Hamilton

A Flowchart of the Hamilton program written in Python.

Uploaded by

Senne Van Baelen
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Legend:

Representa7on of interfaces= interac7on with the user = gefng input or returning output Representa7on of ac7ons done by the program that are not seen by the user= The calcula7ons, data movement or data processing done to handle the input and provide the output due to this input

Start Main interface: Dening the system: * informa7on box * - Degrees of freedom (DOF) - Kine7c Energy - Poten7al Energy - Dissipa7on Energy - Parameters - Values of parameters - Ini7al Values - External forces -End 7me Op7ons: > Calculate > Simula7on & Visualision > Control > Quit

Op7on Control: Not possible yet

Op7on Calculate Calcula7on steps: - Langrangian - Speed formula - Hamiltonian - Dieren7al equa7ons (Symbols): - Speed (dof1, dof 2,...) - Impulsdot(dof1,dof2,...) - Dieren7al equa7ons (Numeric): - Speed (dof1, dof 2,...) - Impulsdot(dof1,dof2,...) - Solving the equa7ons through integra7on - Wri7ng symbolic and numerical data away in a TXT-le RESULT: - TXT-le that can be called upon with: - Important symbolic values - Numerical data of the system - Calcula7ons succesfull

Op7on Simula7on & Visualisa7on: Not possible yet

Main interface: Op7ons le[: > Control > Simulate & Visualisa7ons

Op7on Control: * Informa7on box * Dierent areas to ll in: - Ini7al Values (dof0, Pdof0, Fdof0, dof1,...) - Workpoints for lineariza7on( dof0, Pdof0, dof1, Pdof1,...) LQR-CONTROL: Checkbox: - Show K&E matrix from LQR Areas to ll in: - Q-matrix (e.g. [row0],[row1],...) - R-matrix - Time Steps (T0,Tend,number of elements between T0 and Tend) - Reference Func7ons (REFdof0, REFdof1,...) Checkbox: - Add I-Control to the system Op7ons: > CONTROL > Quit

Op7on Simula7on & Visualisa7on: * informa7on box * Dierent checkboxes to give - Dieren7al equa7ons (Symbols) - Numeric values of dofs and momenta at dierent 7mesteps - Numeric values of the veloci7es and resul7ng system forces at dierent 7mesteps PLOTTING: - Dofs and momenta a.f.o. 7me - Veloci7es as func7on of (a.f.o.) 7me - Resul7ng forces a.f.o. 7me - Y-values a.f.o. X-values (with Y and X adaptable to other variables) Op7ons: > Simulate and Plot > Quit

Op7on CONTROL: Control steps: - Loading the saved symbol informa7on from the TXT-le - Loading the parameter values - Create con7nuous-7me linear system: - Linearize if necessary -When checkbox for 'add I Ac7on' is checked, add extra degrees of freedom - Create necessary matrices for LQR- method - Use the results of the LQR method and the reference func7ons for PID-control - The method for solving ODE through integra7on between small 7me steps is repeated in a loop, therfore feedback is applied -Plot reference and controlled system for every degree of freedom

Op7on Simulate and Visualise: Simula7on steps: - Loading the saved informa7on of the TXT-le Then, if the checkbudon is checked and with some extra labels added specic for that ac7on, returning (= RESULT): - The dieren7al symbolic equa7ons - The numeric results of the dofs and momenta a.f.o. 7me - The numeric resultst of the veloci7es and resul7ng system forces at dierent 7mesteps - Plot dofs and momenta a.f.o. 7me - Plot velocity a.f.o. 7me - Plot forces a.f.o. 7me - Plot Y a.f.o. X - Gefng the variables that need to be ploded a.f.o. one another - Subs7tute symbols by values in the X and Y func7ons - Plofng

CONTROL: Interface with the results

Simulate & Visualisa7on: Interface with the results

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