初版：实现 AMESim 机械因果化与事件求解
初步支持 MECMAS21 刚性质量状态归并、端止事件、恢复系数，以及 LSTP 接触和压力流量显式因果化。 已知问题：显式传播仍会重复扫描全网方程，长时刚性仿真性能待优化；自适应积分器遇到越出物理域的试探状态时，尚未实现恢复并缩步重试。
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from __future__ import annotations
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from math import exp
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import unittest
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from app.simulation.components.amesim.mechanical.translational import (
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AmesimF000,
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AmesimLstp00a,
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AmesimMecmas21,
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)
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from app.simulation.core.base import AlgebraicComponent
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from app.simulation.core.equations import EquationResidual
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from app.simulation.core.medium import IdealGasMedium
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from app.simulation.core.ports import PortDefinition
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from app.simulation.solvers.algebraic import PressureFlowSolver
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from app.simulation.systems.network import SimulationNetwork
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class _PressureCoupledMechanicalLoad(AlgebraicComponent):
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PORTS = (
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PortDefinition.mechanical_translational("mechanical"),
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PortDefinition.pneumatic("pneumatic"),
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)
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def __init__(
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self,
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name: str,
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*,
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initial_force: float,
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solved_force: float,
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displacement: float,
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) -> None:
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super().__init__(name=name)
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self.solved_force = float(solved_force)
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self.mechanical = self.register_declared_port("mechanical")
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self.pneumatic = self.register_declared_port("pneumatic")
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self.mechanical.x = float(displacement)
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self.pneumatic.p = float(initial_force)
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def pressure_flow_equation_residuals(self) -> tuple[EquationResidual, ...]:
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return (
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EquationResidual(
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id=f"{self.name}:velocity_state",
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owner="component",
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owner_id=self.name,
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relation="state",
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variables=(f"{self.name}.mechanical.v",),
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role="effort",
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value=self.mechanical.v,
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),
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EquationResidual(
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id=f"{self.name}:pressure_force",
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owner="component",
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owner_id=self.name,
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relation="constitutive",
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variables=(
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f"{self.name}.mechanical.f",
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f"{self.name}.pneumatic.p",
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),
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role="flow",
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value=self.mechanical.f - self.pneumatic.p,
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),
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EquationResidual(
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id=f"{self.name}:pressure_closure",
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owner="component",
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owner_id=self.name,
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relation="constitutive",
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variables=(f"{self.name}.pneumatic.p",),
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role="effort",
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value=self.pneumatic.p - self.solved_force,
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),
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EquationResidual(
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id=f"{self.name}:zero_mass_flow",
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owner="component",
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owner_id=self.name,
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relation="constitutive",
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variables=(f"{self.name}.pneumatic.m_flow",),
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role="flow",
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value=self.pneumatic.m_flow,
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),
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)
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class _PrescribedMechanicalLoad(AlgebraicComponent):
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PORTS = (PortDefinition.mechanical_translational("port_1"),)
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def __init__(
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self,
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name: str,
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*,
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force: float,
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displacement: float,
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velocity: float,
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) -> None:
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super().__init__(name=name)
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self.force = float(force)
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self.velocity = float(velocity)
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self.port_1 = self.register_declared_port("port_1")
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self.port_1.x = float(displacement)
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def pressure_flow_equation_residuals(self) -> tuple[EquationResidual, ...]:
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return (
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EquationResidual(
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id=f"{self.name}:velocity_state",
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owner="component",
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owner_id=self.name,
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relation="state",
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variables=(f"{self.name}.port_1.v",),
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role="effort",
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value=self.port_1.v - self.velocity,
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),
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EquationResidual(
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id=f"{self.name}:force",
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owner="component",
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owner_id=self.name,
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relation="constitutive",
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variables=(f"{self.name}.port_1.f",),
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role="flow",
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value=self.port_1.f - self.force,
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),
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)
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class ContactSolverCausalizationTests(unittest.TestCase):
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def test_nonlinear_binding_tracks_sub_ulp_force_change(self) -> None:
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medium = IdealGasMedium()
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load = _PressureCoupledMechanicalLoad(
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"load",
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initial_force=40.0,
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solved_force=41.0,
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displacement=1.0e9,
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)
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contact = AmesimLstp00a(
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"contact",
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medium,
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gap0=0.0,
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kcont=1.0e11,
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rcont=0.0,
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Pdis=1.0e-7,
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discContactOption=1.0,
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)
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mass = AmesimMecmas21(
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"mass",
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medium,
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mass=1.0,
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useFriction=0.0,
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stoptype=4.0,
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x0=1.0e9,
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v0=0.0,
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)
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zero = AmesimF000("zero")
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network = SimulationNetwork("sub-ulp-dynamic-contact-binding")
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for component in (load, contact, mass, zero):
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network.add_component(component)
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network.connect("load", "mechanical", "contact", "port_1")
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network.connect("contact", "port_2", "mass", "port_1")
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network.connect("mass", "port_2", "zero", "port_1")
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self.assertTrue(network.pressure_flow_structure_dict()["isSquare"])
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diagnostics = PressureFlowSolver(network).solve()
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self.assertTrue(diagnostics.success, diagnostics.message)
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self.assertGreater(diagnostics.evaluations, 0)
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self.assertAlmostEqual(load.pneumatic.p, 41.0, delta=1.0e-3)
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self.assertAlmostEqual(load.mechanical.f, 41.0, delta=1.0e-3)
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self.assertAlmostEqual(contact.contact_force, 41.0, delta=1.0e-3)
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self.assertAlmostEqual(contact.penetration, 4.1e-10, delta=1.0e-14)
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def test_negative_contact_binding_uses_nearest_feasible_root(self) -> None:
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medium = IdealGasMedium()
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expected_force = 10.0 - 20.0 * (1.0 - exp(-1.0))
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load = _PrescribedMechanicalLoad(
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"load",
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force=expected_force,
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displacement=0.0,
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velocity=0.0,
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)
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contact = AmesimLstp00a(
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"contact",
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medium,
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gap0=0.0,
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kcont=100.0,
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rcont=10.0,
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Pdis=0.1,
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discContactOption=1.0,
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)
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mass = AmesimMecmas21(
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"mass",
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medium,
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mass=1.0,
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useFriction=0.0,
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stoptype=4.0,
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x0=0.08,
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v0=-2.0,
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)
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zero = AmesimF000("zero")
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network = SimulationNetwork("negative-contact-force-binding")
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for component in (load, contact, mass, zero):
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network.add_component(component)
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network.connect("load", "port_1", "contact", "port_1")
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network.connect("contact", "port_2", "mass", "port_1")
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network.connect("mass", "port_2", "zero", "port_1")
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self.assertTrue(network.pressure_flow_structure_dict()["isSquare"])
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diagnostics = PressureFlowSolver(network).solve()
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self.assertTrue(diagnostics.success, diagnostics.message)
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self.assertLess(contact.contact_force, 0.0)
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self.assertAlmostEqual(contact.contact_force, expected_force, places=10)
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self.assertAlmostEqual(contact.penetration, 0.1, places=10)
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if __name__ == "__main__":
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unittest.main()
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