From 3f7caf4f48a43fd133a59cd945d66a0169f91569 Mon Sep 17 00:00:00 2001
From: yz <yizeguo1@126.com>
Date: Tue, 15 Apr 2025 10:44:36 +0800
Subject: [PATCH] 1

---
 多体+耦合求解器/sympy_test.ipynb | 52 +++++++++++++++++++++++++++++++-
 1 file changed, 51 insertions(+), 1 deletion(-)

diff --git a/多体+耦合求解器/sympy_test.ipynb b/多体+耦合求解器/sympy_test.ipynb
index d263c40..7894d9c 100644
--- a/多体+耦合求解器/sympy_test.ipynb
+++ b/多体+耦合求解器/sympy_test.ipynb
@@ -1,5 +1,47 @@
 {
- "cells": [],
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import sympy as sm\n",
+    "import sympy.physics.mechanics as me\n",
+    "me.init_vprinting(use_latex='mathjax')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/latex": [
+       "$\\displaystyle \\dot{u}_{yaw}\\mathbf{\\hat{a}_y}$"
+      ],
+      "text/plain": [
+       "u_ẏaw a_y"
+      ]
+     },
+     "execution_count": 5,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "A = me.ReferenceFrame('A')\n",
+    "D = me.ReferenceFrame('D')\n",
+    "q_yaw, q_drtr, q_geaz= me.dynamicsymbols('q_yaw, q_drtr, q_geaz')\n",
+    "u_yaw, u_drtr, u_geaz = me.dynamicsymbols('u_yaw, u_drtr, u_geaz')\n",
+    "D.orient_axis(A, q_yaw, A.y)\n",
+    "D.set_ang_vel(A, u_yaw * A.y)\n",
+    "\n",
+    "D.ang_acc_in(A)"
+   ]
+  }
+ ],
  "metadata": {
   "kernelspec": {
    "display_name": "MinerU",
@@ -7,7 +49,15 @@
    "name": "python3"
   },
   "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
    "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
    "version": "3.10.16"
   }
  },