公开更多 AMESim 组件并接入信号机械闭环

app/simulation/components/amesim/mechanical/__init__.py

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+"""AMESim mechanical components."""

app/simulation/components/amesim/mechanical/translational.py

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+from __future__ import annotations
+
+from collections.abc import Mapping
+
+from app.simulation.core.base import AlgebraicComponent, DynamicComponent
+from app.simulation.core.catalog import ComponentDisplaySpec, PortDisplaySpec
+from app.simulation.core.equations import EquationResidual
+from app.simulation.core.metadata import ParameterDefinition, ResultVariableDefinition
+from app.simulation.core.medium import IdealGasMedium
+from app.simulation.core.ports import PortDefinition
+
+
+class AmesimF000(AlgebraicComponent):
+    """AMESim F000 zero force source."""
+
+    MODEL_TYPE = "amesim_f000"
+    MODEL_VERSION = "0.1.0"
+    PORTS = (PortDefinition.mechanical_translational("port_1"),)
+    PARAMETERS = ()
+    RESULT_VARIABLES = ()
+    DISPLAY = ComponentDisplaySpec(
+        label="F000 零力源",
+        library_id="amesim",
+        category_id="mechanical",
+        symbol="generic",
+        ports=(PortDisplaySpec("port_1", "right", order=10),),
+        order=10,
+    )
+
+    def __init__(self, name: str) -> None:
+        super().__init__(name=name)
+        self.set_parameter_values({})
+        self.port_1 = self.register_declared_port("port_1")
+
+    @classmethod
+    def create(
+        cls,
+        *,
+        name: str,
+        medium: IdealGasMedium,
+        parameters: Mapping[str, float],
+    ) -> "AmesimF000":
+        return cls(name=name)
+
+    def pressure_flow_equation_residuals(self) -> tuple[EquationResidual, ...]:
+        return (
+            EquationResidual(
+                id=f"{self.name}:zero_force",
+                owner="component",
+                owner_id=self.name,
+                relation="constitutive",
+                variables=(f"{self.name}.port_1.f",),
+                role="flow",
+                value=self.port_1.f,
+            ),
+        )
+
+
+class AmesimForc(AlgebraicComponent):
+    """AMESim FORC signal-to-force converter."""
+
+    MODEL_TYPE = "amesim_forc"
+    MODEL_VERSION = "0.1.0"
+    PORTS = (
+        PortDefinition.signal("res", nominal_role="input"),
+        PortDefinition.mechanical_translational("port_2"),
+    )
+    PARAMETERS = ()
+    RESULT_VARIABLES = (
+        ResultVariableDefinition("force", "输出力", "force", "N", "signal", 10),
+    )
+    DISPLAY = ComponentDisplaySpec(
+        label="FORC 信号转力",
+        library_id="amesim",
+        category_id="mechanical",
+        symbol="signal",
+        ports=(
+            PortDisplaySpec("res", "left", order=10),
+            PortDisplaySpec("port_2", "right", order=20),
+        ),
+        order=20,
+    )
+
+    def __init__(self, name: str) -> None:
+        super().__init__(name=name)
+        self.set_parameter_values({})
+        self.res = self.register_declared_port("res")
+        self.port_2 = self.register_declared_port("port_2")
+
+    @classmethod
+    def create(
+        cls,
+        *,
+        name: str,
+        medium: IdealGasMedium,
+        parameters: Mapping[str, float],
+    ) -> "AmesimForc":
+        return cls(name=name)
+
+    @property
+    def output_force(self) -> float:
+        return float(self.res.signal)
+
+    def pressure_flow_equation_residuals(self) -> tuple[EquationResidual, ...]:
+        return (
+            EquationResidual(
+                id=f"{self.name}:signal_force",
+                owner="component",
+                owner_id=self.name,
+                relation="constitutive",
+                variables=(f"{self.name}.port_2.f", f"{self.name}.res.signal"),
+                role="flow",
+                value=self.port_2.f + self.output_force,
+            ),
+        )
+
+    def component_result_values(self) -> Mapping[str, float]:
+        return {"force": self.output_force}
+
+
+class AmesimMecmas21(DynamicComponent):
+    """AMESim MECMAS21 first public one-dimensional translational mass."""
+
+    MODEL_TYPE = "amesim_mecmas21"
+    MODEL_VERSION = "0.1.0"
+    PORTS = (
+        PortDefinition.mechanical_translational("port_1"),
+        PortDefinition.mechanical_translational("port_2"),
+    )
+    PARAMETERS = (
+        ParameterDefinition("mass", 1.0, label="质量", quantity="mass", unit="kg", minimum=0.0, minimum_exclusive=True),
+        ParameterDefinition("fstick", 0.0, label="静摩擦力", quantity="force", unit="N", minimum=0.0),
+        ParameterDefinition("fcoul", 0.0, label="库仑摩擦力", quantity="force", unit="N", minimum=0.0),
+        ParameterDefinition("rvisc", 0.0, label="黏性摩擦系数", quantity="translational_damping", unit="N/(m/s)", minimum=0.0),
+        ParameterDefinition("wind", 0.0, label="风阻系数", quantity="windage", unit="N/(m/s)^2", minimum=0.0),
+        ParameterDefinition("dvel", 1.0e-6, label="粘滞速度阈值", quantity="velocity", unit="m/s", minimum=0.0),
+        ParameterDefinition("restdvel", 1.0e-6, label="恢复速度阈值", quantity="velocity", unit="m/s", minimum=0.0),
+        ParameterDefinition("restcoeff", 0.65, label="恢复系数", quantity="dimensionless", unit="", minimum=0.0, maximum=1.0),
+        ParameterDefinition("astrib", 1.0e-3, label="Stribeck 常数", quantity="velocity", unit="m/s", minimum=0.0),
+        ParameterDefinition("xmin", -1.0, label="下位移限位", quantity="length", unit="m"),
+        ParameterDefinition("Kbmin", 1.0e9, label="下限位刚度", quantity="translational_stiffness", unit="N/m", minimum=0.0),
+        ParameterDefinition("Dbmin", 1.0e4, label="下限位阻尼", quantity="translational_damping", unit="N/(m/s)", minimum=0.0),
+        ParameterDefinition("Pdmin", 1.0e-4, label="下限位满阻尼穿透", quantity="length", unit="m", minimum=0.0),
+        ParameterDefinition("xmax", 0.8, label="上位移限位", quantity="length", unit="m"),
+        ParameterDefinition("Kbmax", 1.0e9, label="上限位刚度", quantity="translational_stiffness", unit="N/m", minimum=0.0),
+        ParameterDefinition("Dbmax", 1.0e4, label="上限位阻尼", quantity="translational_damping", unit="N/(m/s)", minimum=0.0),
+        ParameterDefinition("Pdmax", 1.0e-4, label="上限位满阻尼穿透", quantity="length", unit="m", minimum=0.0),
+        ParameterDefinition("theta", 0.0, label="倾角", quantity="dimensionless", unit=""),
+        ParameterDefinition("useFriction", 1.0, label="启用摩擦", quantity="dimensionless", unit="", minimum=0.0, maximum=1.0),
+        ParameterDefinition("stoptype", 4.0, label="限位类型", quantity="dimensionless", unit="", minimum=0.0),
+        ParameterDefinition("discContactOption", 1.0, label="接触选项", quantity="dimensionless", unit="", minimum=0.0),
+        ParameterDefinition("strib", 1.0, label="Stribeck 选项", quantity="dimensionless", unit="", minimum=0.0, maximum=1.0),
+        ParameterDefinition("frictionType", 1.0, label="摩擦类型", quantity="dimensionless", unit="", minimum=0.0),
+        ParameterDefinition("v0", 0.0, label="初始速度", quantity="velocity", unit="m/s"),
+        ParameterDefinition("x0", 0.0, label="初始位移", quantity="length", unit="m"),
+    )
+    RESULT_VARIABLES = (
+        ResultVariableDefinition("a", "加速度", "acceleration", "m/s2", "state", 10),
+        ResultVariableDefinition("v", "速度", "velocity", "m/s", "state", 20),
+        ResultVariableDefinition("x", "位移", "length", "m", "state", 30),
+        ResultVariableDefinition("Fvisc", "黏性摩擦力", "force", "N", "derived", 40),
+        ResultVariableDefinition("Ffric", "干摩擦力", "force", "N", "derived", 50),
+        ResultVariableDefinition("Fmin", "下限位力", "force", "N", "derived", 60),
+        ResultVariableDefinition("Fmax", "上限位力", "force", "N", "derived", 70),
+    )
+    DISPLAY = ComponentDisplaySpec(
+        label="MECMAS21 一维质量",
+        library_id="amesim",
+        category_id="mechanical",
+        symbol="generic",
+        ports=(
+            PortDisplaySpec("port_1", "left", order=10),
+            PortDisplaySpec("port_2", "right", order=20),
+        ),
+        order=30,
+    )
+    state_size = 2
+
+    def __init__(self, name: str, medium: IdealGasMedium, **parameters: float) -> None:
+        super().__init__(name=name)
+        resolved = {definition.name: parameters.get(definition.name, definition.default) for definition in self.PARAMETERS}
+        self.set_parameter_values(resolved)
+        for name, value in resolved.items():
+            setattr(self, name, float(value))
+        self.use_friction = bool(int(self.useFriction))
+        self.port_1 = self.register_declared_port("port_1")
+        self.port_2 = self.register_declared_port("port_2")
+        self.v = float(self.v0)
+        self.x = float(self.x0)
+        self.refresh_thermodynamic_ports()
+
+    @classmethod
+    def create(
+        cls,
+        *,
+        name: str,
+        medium: IdealGasMedium,
+        parameters: Mapping[str, float],
+    ) -> "AmesimMecmas21":
+        for integer_name in ("useFriction", "stoptype", "discContactOption", "strib", "frictionType"):
+            if not float(parameters[integer_name]).is_integer():
+                raise ValueError(f"MECMAS21 {integer_name} must be an integer.")
+        return cls(name=name, medium=medium, **dict(parameters))
+
+    def get_state_vector(self) -> list[float]:
+        return [self.v, self.x]
+
+    def set_state_vector(self, values: list[float]) -> None:
+        if len(values) != 2:
+            raise ValueError("MECMAS21 state vector requires [v, x].")
+        self.v = float(values[0])
+        self.x = float(values[1])
+        self.refresh_thermodynamic_ports()
+
+    def refresh_thermodynamic_ports(self) -> None:
+        for port in (self.port_1, self.port_2):
+            port.x = self.x
+            port.v = self.v
+
+    def pressure_flow_equation_residuals(self) -> tuple[EquationResidual, ...]:
+        return (
+            self._state_residual("port_1", "x", self.port_1.x - self.x),
+            self._state_residual("port_1", "v", self.port_1.v - self.v),
+            self._state_residual("port_2", "x", self.port_2.x - self.x),
+            self._state_residual("port_2", "v", self.port_2.v - self.v),
+        )
+
+    def _state_residual(self, port_name: str, variable: str, value: float) -> EquationResidual:
+        return EquationResidual(
+            id=f"{self.name}:{port_name}_{variable}_state",
+            owner="component",
+            owner_id=self.name,
+            relation="state",
+            variables=(f"{self.name}.{port_name}.{variable}",),
+            role="effort",
+            value=value,
+        )
+
+    def _viscous_friction_force(self) -> float:
+        if not self.use_friction:
+            return 0.0
+        return -self.rvisc * self.v
+
+    def _windage_force(self) -> float:
+        if not self.use_friction:
+            return 0.0
+        return -self.wind * self.v * abs(self.v)
+
+    def _dry_friction_force(self) -> float:
+        if not self.use_friction:
+            return 0.0
+        if self.v > 0.0:
+            return -self.fcoul
+        if self.v < 0.0:
+            return self.fcoul
+        return 0.0
+
+    def _lower_limit_force(self) -> float:
+        penetration = max(self.xmin - self.x, 0.0)
+        if penetration <= 0.0:
+            return 0.0
+        return self.Kbmin * penetration + max(-self.Dbmin * self.v, 0.0)
+
+    def _upper_limit_force(self) -> float:
+        penetration = max(self.x - self.xmax, 0.0)
+        if penetration <= 0.0:
+            return 0.0
+        return self.Kbmax * penetration + max(self.Dbmax * self.v, 0.0)
+
+    def acceleration(self) -> float:
+        return (
+            self.port_1.f
+            + self.port_2.f
+            + self._viscous_friction_force()
+            + self._windage_force()
+            + self._dry_friction_force()
+            + self._lower_limit_force()
+            - self._upper_limit_force()
+        ) / self.mass
+
+    def state_derivative_from_ports(self, connected_h: Mapping[str, float]) -> list[float]:
+        return [self.acceleration(), self.v]
+
+    def component_result_values(self) -> Mapping[str, float]:
+        return {
+            "a": self.acceleration(),
+            "v": self.v,
+            "x": self.x,
+            "Fvisc": self._viscous_friction_force(),
+            "Ffric": self._dry_friction_force(),
+            "Fmin": self._lower_limit_force(),
+            "Fmax": self._upper_limit_force(),
+        }