接入test_mql机械质量状态闭包

PythonModels/components/amesim_mechanical.py

@@ -125,3 +125,44 @@ class AmesimMassFrictionEndstops:
     def viscous_friction_force(self, velocity_m_s: float) -> float:
         return -self.viscous_friction_n_per_m_per_s * velocity_m_s
 
+    def windage_force(self, velocity_m_s: float) -> float:
+        return -self.windage_n_per_m2_per_s2 * velocity_m_s * abs(velocity_m_s)
+
+    def dry_friction_force(self, velocity_m_s: float) -> float:
+        if velocity_m_s > 0.0:
+            return -self.coulomb_friction_n
+        if velocity_m_s < 0.0:
+            return self.coulomb_friction_n
+        return 0.0
+
+    def limit_contact_force(self, displacement_m: float, velocity_m_s: float) -> float:
+        lower_force = self.lower_static_force_magnitude(displacement_m)
+        if lower_force > 0.0:
+            lower_force += max(-self.lower_damping_n_per_m_per_s * velocity_m_s, 0.0)
+
+        upper_force = self.upper_static_force_magnitude(displacement_m)
+        if upper_force > 0.0:
+            upper_force += max(self.upper_damping_n_per_m_per_s * velocity_m_s, 0.0)
+
+        return lower_force - upper_force
+
+    def derivatives(
+        self,
+        *,
+        velocity_m_s: float,
+        displacement_m: float,
+        port_1_force_n: float = 0.0,
+        port_2_force_n: float = 0.0,
+        external_force_n: float = 0.0,
+    ) -> tuple[float, float]:
+        total_force = (
+            port_1_force_n
+            + port_2_force_n
+            + external_force_n
+            + self.viscous_friction_force(velocity_m_s)
+            + self.windage_force(velocity_m_s)
+            + self.dry_friction_force(velocity_m_s)
+            + self.limit_contact_force(displacement_m, velocity_m_s)
+        )
+        return total_force / self.mass_kg, velocity_m_s
+