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7 views

problem_1_8

Uploaded by

ultapappu2
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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problem_1_8

November 7, 2024

[6]: import numpy as np


from scipy.integrate import solve_ivp
import matplotlib.pyplot as plt
import matplotlib.ticker as ticker
from IPython.display import Markdown

# Function to display text in Markdown format


def dsp_M(*args):
text = ' '.join(map(str, args))
display(Markdown(text)) # Use display to render Markdown in Jupyter

# External force function


def F_b(t):
return np.where(t > 4, 0, 400 * np.sin(2 * np.pi * t / 4))

# The system of ODEs


def crane_ode(t, y, m_b, m, l, g):
y_pos, y_vel, phi, phi_vel = y

# Equations of motion
denom = m_b + m - m * np.cos(phi)**2
y_acc = (F_b(t) + m * g * np.sin(phi) * np.cos(phi) + m * l * phi_vel**2 *␣
↪np.sin(phi)) / denom

phi_acc = -(y_acc * np.cos(phi) + g * np.sin(phi)) / l

return [y_vel, y_acc, phi_vel, phi_acc]

# Customize the y-axis tick labels to remove the negative sign


def custom_formatter(x, pos):
return '{:.4f}'.format(-x)

# Helper function for plotting


def plot_with_grid(ax, x, y, title, xlabel, ylabel):
ax.plot(x, y)
ax.set_title(title)
ax.set_xlabel(xlabel)
ax.set_ylabel(ylabel)

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ax.grid(True)

def main():
# Parameters
m_b, m, l, g = 20, 100, 2, 9.81 # mass of bridge [kg], mass of payload␣
↪[kg], rope length [m], gravity [m/s^2]

t_f, n_t = 8, 100 # final time [s], number of time points

# Display parameters and initial conditions


dsp_M(f"#### Parameters\n",
f"Mass of the bridge: $m_b = {m_b}\ [kg]$<br>",
f"Mass of the payload: $m = {m}\ [kg]$<br>",
f"Length of the hoisting rope: $l = {l}\ [m]$<br>",
f"Acceleration due to gravity: $g = {g}\ [m/s^2]$<br>",
f"Final time: $t_f = {t_f}\ [s]$<br>",
f"Number of time points: $n_t = {n_t}$")

y0 = [0, 0, 0, 0] # Initial conditions

dsp_M("#### Initial Conditions\n",


f"Position of the bridge: $y(0) = {y0[0]}\ [m]$<br>",
f"Velocity of the bridge: $\dot{{y}}(0) = {y0[1]}\ [m/s]$<br>",
f"Sway angle: $\phi(0) = {y0[2]}\ [rad]$<br>",
f"Angular velocity: $\dot{{\phi}}(0) = {y0[3]}\ [1/s]$")

# Time interval
t_span = (0, t_f)
t_eval = np.linspace(0, t_f, n_t)

# Calculate F_b(t) values for plotting


F_b_values = F_b(t_eval)

# Plot external force F_b(t)


fig, ax = plt.subplots(figsize=(5, 3))
plot_with_grid(ax, t_eval, F_b_values, r'External Force ($F_b(t)$) vs␣
↪Time', 'Time [s]', r'$F_b(t)$ [N]')

plt.tight_layout()
plt.show()

# Solve the ODEs


solution = solve_ivp(crane_ode, t_span, y0, t_eval=t_eval, method='RK45',␣
↪args=(m_b, m, l, g))

# Extract results
y_pos, y_vel, phi, phi_vel = solution.y

# Calculate the trajectory of the payload

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x_m = -l * np.cos(phi)
y_m = y_pos + l * np.sin(phi)

# Calculate the velocity magnitude of the payload


v_m = np.sqrt(y_vel**2 + 2 * y_vel * l * phi_vel * np.cos(phi) + (l *␣
↪phi_vel)**2)

dsp_M("### Results")

# Plot bridge position and velocity


fig, axs = plt.subplots(1, 2, figsize=(12, 3))
plot_with_grid(axs[0], solution.t, y_pos, 'Bridge Position (y) vs Time',␣
↪'Time [s]', 'y [m]')

plot_with_grid(axs[1], solution.t, y_vel, r'Bridge Velocity ($\dot{y}$) vs␣


↪Time', 'Time [s]', r'$\dot{y}$ [m/s]')

plt.tight_layout()
plt.show()

# Plot sway angle and angular velocity


fig, axs = plt.subplots(1, 2, figsize=(12, 3))
plot_with_grid(axs[0], solution.t, phi, r'Sway Angle ($\phi$) vs Time',␣
↪'Time [s]', r'$\phi$ [rad]')

plot_with_grid(axs[1], solution.t, phi_vel, r'Angular Velocity␣


↪$(\dot{\phi})$ vs Time', 'Time [s]', r'$\dot{\phi}$ [rad/s]')

plt.tight_layout()
plt.show()

# Plot trajectory and velocity magnitude of the payload


fig, axs = plt.subplots(1, 2, figsize=(12, 3))
axs[0].plot(y_m, x_m)
axs[0].set_title(r'Payload Trajectory ($y_m$, $x_m$)')
axs[0].set_xlabel(r'$y_m$ [m]')
axs[0].set_ylabel(r'$x_m$ [m]')
axs[0].grid(True)
axs[0].yaxis.set_major_formatter(ticker.FuncFormatter(custom_formatter))

plot_with_grid(axs[1], solution.t, v_m, 'Velocity of Payload ($v_m$) vs␣


↪Time', 'Time [s]', r'$v_m$ [m/s]')
plt.tight_layout()
plt.show()

if __name__ == "__main__":
main()

Parameters Mass of the bridge: 𝑚𝑏 = 20 [𝑘𝑔] Mass of the payload: 𝑚 = 100 [𝑘𝑔] Length of the
hoisting rope: 𝑙 = 2 [𝑚] Acceleration due to gravity: 𝑔 = 9.81 [𝑚/𝑠2 ] Final time: 𝑡𝑓 = 8 [𝑠] Number

3
of time points: 𝑛𝑡 = 100

Initial Conditions Position of the bridge: 𝑦(0) = 0 [𝑚] Velocity of the bridge: 𝑦(0)
̇ = 0 [𝑚/𝑠]
̇
Sway angle: 𝜙(0) = 0 [𝑟𝑎𝑑] Angular velocity: 𝜙(0) = 0 [1/𝑠]

0.0.1 Results

4
[2]:

<IPython.core.display.Markdown object>
<IPython.core.display.Markdown object>

---------------------------------------------------------------------------
NameError Traceback (most recent call last)
Cell In[2], line 123
120 plt.show()
122 if __name__ == "__main__":
--> 123 main()

Cell In[2], line 91, in main()


88 y_m = y_pos + l * np.sin(phi)
90 # Calculate the velocity magnitude of the payload
---> 91 v_m = np.sqrt(y_vel*2 + 2 * y_vel * l * phi_vel * np.cos(phi) + l2 *␣
↪phi_vel*2)

93 dsp_M("### Results")

5
95 # Plot bridge position and velocity

NameError: name 'l2' is not defined

[ ]:

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