补充test_mql质量端止动原语

tests/test_amesim_mechanical_components.py

@@ -5,6 +5,7 @@ from pathlib import Path
 
 from PythonModels.components.amesim_mechanical import (
     AmesimElasticEndstop,
+    AmesimMassFrictionEndstops,
     AmesimPistonGeometry,
     circular_area,
     m_to_mm,
@@ -76,6 +77,22 @@ class AmesimMechanicalComponentsTest(unittest.TestCase):
         self.assertEqual(endstop.static_contact_force(0.1), 0.0)
         self.assertEqual(endstop.penetration_m_from_gap_mm(0.1), 0.0)
 
+    def test_mass_endstop_penetration_and_viscous_friction(self) -> None:
+        mass = AmesimMassFrictionEndstops(
+            mass_kg=50.0,
+            lower_limit_m=-1.0,
+            upper_limit_m=0.8,
+            lower_stiffness_n_per_m=1.0e9,
+            upper_stiffness_n_per_m=1.0e9,
+            viscous_friction_n_per_m_per_s=12.0,
+        )
+
+        self.assertEqual(mass.lower_penetration_m(0.0), 0.0)
+        self.assertEqual(mass.upper_penetration_m(0.0), 0.0)
+        self.assertAlmostEqual(mass.lower_static_force_magnitude(-1.001), 1.0e6, delta=1.0e-6)
+        self.assertAlmostEqual(mass.upper_static_force_magnitude(0.801), 1.0e6, delta=1.0e-6)
+        self.assertAlmostEqual(mass.viscous_friction_force(0.25), -3.0)
+
 
 if __name__ == "__main__":
     unittest.main()