补充test_mql质量端止动原语

PythonModels/components/amesim_mechanical.py

@@ -92,3 +92,36 @@ class AmesimElasticEndstop:
             return 0.0
         damping_force = self.contact_damping_n_per_m_per_s * penetration_velocity_m_s
         return max(self.static_contact_force(gap_mm) + damping_force, 0.0)
+
+
+@dataclass(frozen=True)
+class AmesimMassFrictionEndstops:
+    """Parameter and observable helpers for AMESim MECMAS21 translation masses."""
+
+    mass_kg: float
+    lower_limit_m: float
+    upper_limit_m: float
+    lower_stiffness_n_per_m: float
+    upper_stiffness_n_per_m: float
+    lower_damping_n_per_m_per_s: float = 0.0
+    upper_damping_n_per_m_per_s: float = 0.0
+    viscous_friction_n_per_m_per_s: float = 0.0
+    coulomb_friction_n: float = 0.0
+    stiction_force_n: float = 0.0
+    windage_n_per_m2_per_s2: float = 0.0
+
+    def lower_penetration_m(self, displacement_m: float) -> float:
+        return max(self.lower_limit_m - displacement_m, 0.0)
+
+    def upper_penetration_m(self, displacement_m: float) -> float:
+        return max(displacement_m - self.upper_limit_m, 0.0)
+
+    def lower_static_force_magnitude(self, displacement_m: float) -> float:
+        return self.lower_stiffness_n_per_m * self.lower_penetration_m(displacement_m)
+
+    def upper_static_force_magnitude(self, displacement_m: float) -> float:
+        return self.upper_stiffness_n_per_m * self.upper_penetration_m(displacement_m)
+
+    def viscous_friction_force(self, velocity_m_s: float) -> float:
+        return -self.viscous_friction_n_per_m_per_s * velocity_m_s
+