接入test_mql机械质量状态闭包

PythonModels/systems/test_mql_mechanical.py

@@ -63,6 +63,8 @@ class TestMqlMassEndstopSpec:
     stribeck_constant_m_s: float
     use_friction: bool
     stop_type: int
+    initial_velocity_m_s: float
+    initial_displacement_m: float
     data_paths: tuple[str, ...]
 
     def endstop(self) -> AmesimMassFrictionEndstops:
@@ -141,6 +143,64 @@ class TestMqlMechanicalAssembly:
         )
 
 
+@dataclass(frozen=True)
+class TestMqlMechanicalMassState:
+    alias: str
+    velocity_m_s: float
+    displacement_m: float
+
+    def as_vector(self) -> list[float]:
+        return [self.velocity_m_s, self.displacement_m]
+
+
+@dataclass(frozen=True)
+class TestMqlMechanicalMassSnapshot:
+    states: tuple[TestMqlMechanicalMassState, ...]
+
+    @property
+    def state_count(self) -> int:
+        return 2 * len(self.states)
+
+
+class TestMqlMechanicalMassClosure:
+    def __init__(self, assembly: TestMqlMechanicalAssembly) -> None:
+        self.assembly = assembly
+        self.mass_aliases = tuple(assembly.masses)
+
+    def initial_state_vector(self) -> list[float]:
+        state: list[float] = []
+        for alias in self.mass_aliases:
+            spec = self.assembly.masses[alias]
+            state.extend([spec.initial_velocity_m_s, spec.initial_displacement_m])
+        return state
+
+    def snapshot(self, state_vector: list[float] | None = None) -> TestMqlMechanicalMassSnapshot:
+        values = self.initial_state_vector() if state_vector is None else list(state_vector)
+        if len(values) != 2 * len(self.mass_aliases):
+            raise ValueError("mechanical mass state vector requires two values per mass")
+        states = tuple(
+            TestMqlMechanicalMassState(
+                alias=alias,
+                velocity_m_s=values[2 * index],
+                displacement_m=values[2 * index + 1],
+            )
+            for index, alias in enumerate(self.mass_aliases)
+        )
+        return TestMqlMechanicalMassSnapshot(states=states)
+
+    def rhs(self, state_vector: list[float]) -> list[float]:
+        snapshot = self.snapshot(state_vector)
+        derivatives: list[float] = []
+        for state in snapshot.states:
+            mass = self.assembly.masses[state.alias].endstop()
+            acceleration, velocity = mass.derivatives(
+                velocity_m_s=state.velocity_m_s,
+                displacement_m=state.displacement_m,
+            )
+            derivatives.extend([acceleration, velocity])
+        return derivatives
+
+
 def build_test_mql_mechanical_assembly(
     config: TestMqlConfig | None = None,
     amesim_results: AmesimResults | None = None,
@@ -155,7 +215,7 @@ def build_test_mql_mechanical_assembly(
         for component in config.components_by_submodel("PNRP17")
     }
     masses = {
-        component.alias: _build_mass(component, variable_catalog)
+        component.alias: _build_mass(component, variable_catalog, amesim_results)
         for component in config.components_by_submodel("MECMAS21")
     }
     elastic_endstops = {
@@ -202,6 +262,7 @@ def _build_piston(
 def _build_mass(
     component: TestMqlResolvedComponent,
     variable_catalog: TestMqlVariableCatalog | None,
+    amesim_results: AmesimResults | None,
 ) -> TestMqlMassEndstopSpec:
     return TestMqlMassEndstopSpec(
         alias=component.alias,
@@ -224,6 +285,8 @@ def _build_mass(
         stribeck_constant_m_s=component.parameter_value("astrib"),
         use_friction=bool(int(component.parameter_value("useFriction"))),
         stop_type=int(component.parameter_value("stoptype")),
+        initial_velocity_m_s=_initial_value(amesim_results, f"v1@{component.alias}"),
+        initial_displacement_m=_initial_value(amesim_results, f"x1@{component.alias}"),
         data_paths=_data_paths(variable_catalog, component.alias),
     )
 
@@ -263,6 +326,12 @@ def n_per_mm_per_s_to_n_per_m_per_s(value: float) -> float:
     return value * N_PER_MM_PER_S_TO_N_PER_M_PER_S
 
 
+def _initial_value(amesim_results: AmesimResults | None, data_path: str) -> float:
+    if amesim_results is None:
+        return 0.0
+    return float(amesim_results.series(data_path)[0])
+
+
 def _data_paths(
     variable_catalog: TestMqlVariableCatalog | None,
     alias: str,