接入test_mql大质量块约束

PythonModels/systems/test_mql_mechanical.py

@@ -274,17 +274,28 @@ class TestMqlMechanicalMassClosure:
         state_vector: list[float],
         *,
         force_by_mass_alias: dict[str, float] | None = None,
+        constrained_mass_aliases: set[str] | None = None,
     ) -> list[float]:
         snapshot = self.snapshot(state_vector)
         force_by_mass_alias = force_by_mass_alias or {}
+        constrained_mass_aliases = constrained_mass_aliases or set()
         derivatives: list[float] = []
         for state in snapshot.states:
-            mass = self.assembly.masses[state.alias].endstop()
+            spec = self.assembly.masses[state.alias]
+            mass = spec.endstop()
+            applied_force = force_by_mass_alias.get(state.alias, 0.0)
             acceleration, velocity = mass.derivatives(
                 velocity_m_s=state.velocity_m_s,
                 displacement_m=state.displacement_m,
-                port_1_force_n=force_by_mass_alias.get(state.alias, 0.0),
+                port_1_force_n=applied_force,
             )
+            if state.alias in constrained_mass_aliases and _limit_constraint_holds(
+                spec,
+                state,
+                applied_force,
+            ):
+                acceleration = 0.0
+                velocity = 0.0
             derivatives.extend([acceleration, velocity])
         return derivatives
 
@@ -414,6 +425,20 @@ def _build_mechanical_node(
     )
 
 
+def _limit_constraint_holds(
+    spec: TestMqlMassEndstopSpec,
+    state: TestMqlMechanicalMassState,
+    applied_force_n: float,
+) -> bool:
+    if abs(state.velocity_m_s) > spec.stick_velocity_threshold_m_s:
+        return False
+    at_lower_limit = state.displacement_m <= spec.xmin_m + spec.min_penetration_m
+    at_upper_limit = state.displacement_m >= spec.xmax_m - spec.max_penetration_m
+    return (at_lower_limit and applied_force_n <= 0.0) or (
+        at_upper_limit and applied_force_n >= 0.0
+    )
+
+
 def _build_piecewise_signal(
     component: TestMqlResolvedComponent,
     variable_catalog: TestMqlVariableCatalog | None,