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TCPIPexudynMatlab.py
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TCPIPexudynMatlab.py
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#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# This is an EXUDYN example
#
# Details: Example for connecting MATLAB with Exudyn/Python via TCP/IP
# See file TCPIPmatlab.slx for the according Simulink model
#
# Author: Johannes Gerstmayr
# Date: 2021-11-06
#
# Copyright:This file is part of Exudyn. Exudyn is free software. You can redistribute it and/or modify it under the terms of the Exudyn license. See 'LICENSE.txt' for more details.
#
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
import exudyn as exu
from exudyn.itemInterface import *
from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
import exudyn.graphics as graphics #only import if it does not conflict
from exudyn.graphicsDataUtilities import *
import numpy as np
#the following way works between Python and MATLAB-Simulink (client),
#and gives stable results(with only delay of one step):
#
# TCP/IP Client Send:
# priority = 2 (in properties)
# blocking = false
# Transfer Delay on (but off also works)
# TCP/IP Client Receive:
# priority = 1 (in properties)
# blocking = true
# Sourec Data type = double
# data size = number of double in packer
# Byte order = BigEndian
# timeout = 10
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#set up double pendulum:
SC = exu.SystemContainer()
mbs = SC.AddSystem()
#create an environment for mini example
L = 1
fL = 2.5
background = graphics.Quad([[-fL*L, -fL*L, 0],[fL*L, -fL*L, 0],[fL*L, 1*L, 0],[-fL*L, 1*L, 0]],
graphics.color.darkgrey, nTiles=8,
alternatingColor=graphics.color.lightgrey)
oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0],
visualization=VObjectGround(graphicsData= [background])))
a = L #x-dim of pendulum
b = 0.05 #y-dim of pendulum
massRigid = 12
inertiaRigid = massRigid/12*(2*a)**2
g = 9.81 # gravity
graphicsCube = graphics.Brick(centerPoint=[0,0,0], size=[L,b,b], color=graphics.color.steelblue)
nRigid0 = mbs.AddNode(Rigid2D(referenceCoordinates=[0.5*L,0,0], initialVelocities=[0,0,0]));
oRigid0 = mbs.AddObject(RigidBody2D(physicsMass=massRigid, physicsInertia=inertiaRigid,nodeNumber=nRigid0,
visualization=VObjectRigidBody2D(graphicsData= [graphicsCube])))
mR0 = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oRigid0, localPosition=[-0.5*L,0.,0.])) #support point
mR0com = mbs.AddMarker(MarkerBodyRigid(bodyNumber=oRigid0, localPosition=[ 0.,0.,0.])) #mid point
mR0end = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oRigid0, localPosition=[ 0.5*L,0.,0.])) #end point
mG0 = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oGround, localPosition=[0.,0.,0.]))
mbs.AddObject(RevoluteJoint2D(markerNumbers=[mG0,mR0]))
mbs.AddLoad(Force(markerNumber = mR0com, loadVector = [0, -massRigid*g, 0]))
nRigid1 = mbs.AddNode(Rigid2D(referenceCoordinates=[1.5*L,0,0], initialVelocities=[0,0,0]));
oRigid1 = mbs.AddObject(RigidBody2D(physicsMass=massRigid, physicsInertia=inertiaRigid,nodeNumber=nRigid1,
visualization=VObjectRigidBody2D(graphicsData= [graphicsCube])))
mR1 = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oRigid1, localPosition=[-0.5*L,0.,0.])) #support point
mR1com = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oRigid1, localPosition=[ 0.,0.,0.])) #mid point
mbs.AddObject(RevoluteJoint2D(markerNumbers=[mR0end,mR1]))
mbs.AddLoad(Force(markerNumber = mR1com, loadVector = [0, -massRigid*g, 0]))
#++++++++++++++++++++++++++++++++++++++++++++++++++
#damper:
mR0C2 = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber=nRigid0, coordinate=2)) #phi
mR1C2 = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber=nRigid1, coordinate=2)) #phi
mbs.AddObject(CoordinateSpringDamper(markerNumbers=[mR0C2,mR1C2],
stiffness=0, damping=10,
visualization=VCoordinateSpringDamper(show=False)))
#%%++++++++++++++++++++++++++++++++++++++++++++++++++
#connect to MATLAB:
loadTorque = mbs.AddLoad(Torque(markerNumber = mR0com, loadVector = [0, 0, 0]))
sensorAngle = mbs.AddSensor(SensorBody(bodyNumber=oRigid0, outputVariableType=exu.OutputVariableType.Rotation,
fileName='solution/test.txt',
writeToFile=False))
sensorAngle_t = mbs.AddSensor(SensorBody(bodyNumber=oRigid0, outputVariableType=exu.OutputVariableType.AngularVelocity,
fileName='solution/test_t.txt',
writeToFile=False))
mbs.sys['TCPIPobject'] = CreateTCPIPconnection(sendSize=3, receiveSize=2,
bigEndian=True, verbose=True)
sampleTime = 0.01 #sample time in MATLAB! must be same!
mbs.variables['tLast'] = 0
def PreStepUserFunction(mbs, t):
if t >= mbs.variables['tLast'] + sampleTime:
mbs.variables['tLast'] += sampleTime
tcp = mbs.sys['TCPIPobject']
phi0 = mbs.GetSensorValues(sensorAngle)
#print(phi0)
phi0_t = mbs.GetSensorValues(sensorAngle_t)[2]
y = TCPIPsendReceive(tcp, np.array([t, phi0, phi0_t])) #time, torque
tau = y[1]
mbs.SetLoadParameter(loadTorque, 'loadVector',[0,0,tau])
return True
try:
mbs.SetPreStepUserFunction(PreStepUserFunction)
#%%++++++++++++++++++++++++++++++++++++++++++++++++++
mbs.Assemble()
print(mbs)
simulationSettings = exu.SimulationSettings() #takes currently set values or default values
h = 0.002
tEnd = 10
simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h)
simulationSettings.timeIntegration.endTime = tEnd
simulationSettings.timeIntegration.newton.relativeTolerance = 1e-8*100 #10000
simulationSettings.timeIntegration.newton.absoluteTolerance = 1e-10
simulationSettings.timeIntegration.verboseMode = 1
# simulationSettings.timeIntegration.simulateInRealtime = True
simulationSettings.timeIntegration.newton.useModifiedNewton = False
simulationSettings.timeIntegration.newton.numericalDifferentiation.minimumCoordinateSize = 1
simulationSettings.timeIntegration.generalizedAlpha.spectralRadius = 0.5
simulationSettings.displayStatistics = True
#SC.visualizationSettings.nodes.defaultSize = 0.05
simulationSettings.solutionSettings.solutionInformation = "Rigid pendulum"
exu.StartRenderer()
mbs.SolveDynamic(simulationSettings)
SC.WaitForRenderEngineStopFlag()
exu.StopRenderer() #safely close rendering window!
finally:
CloseTCPIPconnection(mbs.sys['TCPIPobject'])