From b1d66a91e92bae24bbdca55270eadb0ff8812b41 Mon Sep 17 00:00:00 2001 From: yz Date: Fri, 28 Feb 2025 16:17:25 +0800 Subject: [PATCH] vault backup: 2025-02-28 16:17:23 --- 工作OKRs/25.2-5 OKR.canvas | 6 +- .../25年多体月度进展/25年多体月度进展.xlsx | Bin 0 -> 26129 bytes 工作总结/周报/周报66-郭翼泽.docx | Bin 0 -> 20869 bytes .../月报/25年2月团队员工考核表-郭翼泽.docx | Bin 0 -> 28761 bytes .../06_Vector_differentiation-checkpoint.ipynb | 82 ++++++++++++++++++ 补课/多体动力学/05_vectors.ipynb | 78 +++-------------- 补课/多体动力学/06_Vector_Differentiation.md | 22 ++++- .../多体动力学/06_Vector_differentiation.ipynb | 82 ++++++++++++++++++ 补课/多体动力学/06_Vector_differentiation.py | 32 +++++++ 9 files changed, 234 insertions(+), 68 deletions(-) create mode 100644 工作总结/25年多体月度进展/25年多体月度进展.xlsx create mode 100644 工作总结/周报/周报66-郭翼泽.docx create mode 100644 工作总结/月报/25年2月团队员工考核表-郭翼泽.docx create mode 100644 补课/多体动力学/.ipynb_checkpoints/06_Vector_differentiation-checkpoint.ipynb create mode 100644 补课/多体动力学/06_Vector_differentiation.ipynb create mode 100644 补课/多体动力学/06_Vector_differentiation.py diff --git a/工作OKRs/25.2-5 OKR.canvas b/工作OKRs/25.2-5 OKR.canvas index 347cc36..aad17a6 100644 --- a/工作OKRs/25.2-5 OKR.canvas +++ b/工作OKRs/25.2-5 OKR.canvas @@ -1,8 +1,8 @@ { "nodes":[ - {"id":"b698e88ca5fb9c51","type":"text","text":"状态指标:\n推进OKR的时候也要关注这些事情,它们是完成OKR的保障。\n\n\n","x":-96,"y":80,"width":456,"height":347}, - {"id":"58be7961ae7275a7","type":"text","text":"# 计划\n这周要做的3~5件重要的事情,这些事情能有效推进实现OKR。\n\nP1 必须做。P2 应该做\n\nP1 多体原理学习 YouTube课程\nP1 根据HEROWind数据结构更新多体模块结构体\nP1 公共模块整理与探讨\nP1 气动模块联合调试,跑通\nP1 多体动力学节点细化\n","x":-620,"y":-307,"width":450,"height":347}, - {"id":"2b068bfe5df15a72","type":"text","text":"# 目标:多体动力学模块完善\n### 每周盘点一下它们\n\n\n关键结果:建模原理、建模方法掌握 (5/10)\n\n关键结果:对标Bladed模块完成 (5/10)\n\n关键结果:风机多体动力学文献调研情况完成 (5/10)","x":-96,"y":-307,"width":456,"height":347}, + {"id":"b698e88ca5fb9c51","type":"text","text":"状态指标:\n推进OKR的时候也要关注这些事情,它们是完成OKR的保障。\n\n\n效率状态 green","x":-96,"y":80,"width":456,"height":347}, + {"id":"58be7961ae7275a7","type":"text","text":"# 计划\n这周要做的3~5件重要的事情,这些事情能有效推进实现OKR。\n\nP1 必须做。P2 应该做\n\nP1 多体原理学习 YouTube课程 ing\nP1 公共模块整理与探讨 已有初步方案\nP1 气动模块联合调试,跑通 no\nP1 梳理Steady Operational Load计算条件,方法及输出结果,确定技术路线\nP1 专利答通一稿\n","x":-620,"y":-307,"width":450,"height":347}, + {"id":"2b068bfe5df15a72","type":"text","text":"# 目标:多体动力学模块完善\n### 每周盘点一下它们\n\n\n关键结果:建模原理、建模方法掌握 (6/10)\n\n关键结果:对标Bladed模块完成 (6/10)\n\n关键结果:风机多体动力学文献调研情况完成 (5/10)","x":-96,"y":-307,"width":456,"height":347}, {"id":"01ee5c157d0deeae","type":"text","text":"# 推进计划\n未来四周计划推进的重要事情\n\n文献调研启动\n\n建模重新推导\n\n\n","x":-620,"y":80,"width":456,"height":347} ], "edges":[] diff --git a/工作总结/25年多体月度进展/25年多体月度进展.xlsx b/工作总结/25年多体月度进展/25年多体月度进展.xlsx new file mode 100644 index 0000000000000000000000000000000000000000..b8b2b023db640c2f21e2f0d0fa2b744c8871818c GIT binary patch literal 26129 zcmeFYWpE_TmL-^CW@d&GV~V8`GnBZ*%*@Qp%&d}1C1z%3W@eR`nO5KHH@4H;z4K>n zf6auMyN73ZSbE&_$MLD0LnH^lSY8IsP}cK)LdWO)nF2huVpNNT+IleQ0SZG@lb! 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zYsi1YZ>eZOqoDMnfxr+@N#m@1XzKHncLs z4O#{gO84uw|K0CjDe%y3L#NE&pbwbuwEagkbT0D^I*#o(8alHX`U0Sn?QSS|xPMdJ zPQ8PM-wj{B0mHyhi@^LTm>HVjZana90^DcN1UJ#a&@6YOVQ;g%6oqE_|W4G&QK_szT$QVHD+=!l*hyq?UzevE&|_dtW8oxC^TV9noPD3>oZ z1GFRXh9O`3H-jl;1G|5_1)=eGJt8+~7?>qp7?}U?k3hrku3&G&tqpF$f3Ihu(RbGp zx6u?vx6pr26aQLSKoi`ZP~IlcF}ZC5f0|xGbKRYm+~#^^_GhkN_VjC#q9}_95iWp% PA%VOXAV=mFe|`ENc*eyh literal 0 HcmV?d00001 diff --git a/补课/多体动力学/.ipynb_checkpoints/06_Vector_differentiation-checkpoint.ipynb b/补课/多体动力学/.ipynb_checkpoints/06_Vector_differentiation-checkpoint.ipynb new file mode 100644 index 0000000..bf0c358 --- /dev/null +++ b/补课/多体动力学/.ipynb_checkpoints/06_Vector_differentiation-checkpoint.ipynb @@ -0,0 +1,82 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import sympy as sm\n", + "import sympy.physics.mechanics as me\n", + "me.init_vprinting()" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "theta, beta, alpha, l = me.dynamicsymbols('theta, beta, alpha, l')\n", + "A, B, C, D = sm.symbols('A, B, C, D', cls=me.ReferenceFrame)" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "B.orient_axis(A, theta, A.z)\n", + "C.orient_axis(B, beta, -B.x)\n", + "D.orient_axis(C, alpha, C.z)\n", + "B.dcm(A)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "r = l *D.x\n", + "r" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "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": "3.12.4" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/补课/多体动力学/05_vectors.ipynb b/补课/多体动力学/05_vectors.ipynb index dc6b773..6c360c3 100644 --- a/补课/多体动力学/05_vectors.ipynb +++ b/补课/多体动力学/05_vectors.ipynb @@ -32,27 +32,9 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "text/latex": [ - "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(q_{1} \\right)} & \\sin{\\left(q_{1} \\right)} & 0\\\\- \\sin{\\left(q_{1} \\right)} \\cos{\\left(q_{2} \\right)} & \\cos{\\left(q_{1} \\right)} \\cos{\\left(q_{2} \\right)} & \\sin{\\left(q_{2} \\right)}\\\\\\sin{\\left(q_{1} \\right)} \\sin{\\left(q_{2} \\right)} & - \\sin{\\left(q_{2} \\right)} \\cos{\\left(q_{1} \\right)} & \\cos{\\left(q_{2} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "⎡ cos(q₁) sin(q₁) 0 ⎤\n", - "⎢ ⎥\n", - "⎢-sin(q₁)⋅cos(q₂) cos(q₁)⋅cos(q₂) sin(q₂)⎥\n", - "⎢ ⎥\n", - "⎣sin(q₁)⋅sin(q₂) -sin(q₂)⋅cos(q₁) cos(q₂)⎦" - ] - }, - "execution_count": 4, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "A.orient_body_fixed(N, (q1, q2, 0),'ZXZ')\n", "A.dcm(N)" @@ -60,7 +42,7 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -69,7 +51,7 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -78,7 +60,7 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -87,7 +69,7 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -96,7 +78,7 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -105,7 +87,7 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -114,50 +96,18 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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OxobtnZfcqYicDPwpFqTfirVZa2E95geIyHOJ7JPoIUo/DslWbca2Ilu1GPsuwd513QwbcrpPWL+4oIw2aCv2TbvORtsNtW1diap+ArP960Tk+11VLDBpvI5RZ422+2VtEeF115DuryDCtqFFbUMc+m7sXrSNeB3KXwK8EngMeKOIPAEws2LFisw9q01YsXVq9UWYY04D7hEb+hEFuupTHAtEJHOCjFT+l2Lfb71ORP4gsX4OJY9bVU8EzgX2FhvG2Qhq75XehYnqDsxxy4CdemgUK9s2sd1y4ATJ/uRWFFQ5tjzNjMn/deARSXyGqC3NNE1W3WOhqXM9J2/mccfmt6G1z1m4H8vTRDtVVTPjbNWmHVX1HOzC5ilgA+BWERn3nfXWmObYl0XX8TCsj/KcDDr8E+xG4r6+6zOOmON1mjbb/ZA/+uuuIcZvbxvKEeO9aNN2VJt74XKsc+TnwD7JY10nb0OxCSuWpXb2FPCkFHzLtyc+Afw58BHgoBL5XxmWq/UGlz1uVV0fOAW4suFOhRns6cymWI/Z3tg3VHfHhgvtLyIv5u+hFUrbVlU3xN4JAusR3EZV52P2+0GblaxJFd1kagZAVU8HrsW+CbwR8GdYL2qyoWhFM5NSpu6R0ci5Xva4Y/TbANvnLGa9HyswcTtVRTPjbNWBHc/HhlxuEH4vbqGMskxz7Muis3gY8kV5TqrqedikZYcAPwkPewCWSz+vpK5kgPE6TSPtPgz3umug8dvbhnJEdS/akh3fwqrXFJ8BLlDVUdqFa2VuMkBE5BdYILhNVTcoys8qZ5Z+CpFiLjZb5/tqbp/Hidj7Oc8CR4vIs9iwmqexd4be23B5hVS07a6YTe/Avpmq4f+PtFrJmlQ8tnGa2RL4Avae0dewd7EOFJGvJvLMpR3NTEqZukdDg+d62eOeS5x+GzTux/I02E6VZS75thqXNjEiMvIjWBy8rI1yStZlamNfFh3HQ4j3nDweu+n5Gjbb++gvhnoOKl6nafhafcjXXYPC24ZyRHgvWpReh/UT/2+OPfge/W2d+yrEtKOqV2GzWc4TkQf7rY0zBFwzw8T9Nh24H8sxDXZS1XOxTvYvichhfdfHWZNp0JkTP66z4eE+K8802mrWdiw4juM4jhMPqnocNiT297HJi/cQkVv6rZXjOI7jOGWYmlchHMdxHMcZNK/GZvZ+HDjOOxUcx3EcZzj4iAXHcRzHcRzHcRzHcWrz/3/P2qNXQME2AAAAAElFTkSuQmCC", - "text/latex": [ - "$\\displaystyle l_{4} \\sin{\\left(q_{4} \\right)}\\mathbf{\\hat{b}_x} + (l_{1} \\sin{\\left(q_{3} \\right)} - l_{3} \\sin{\\left(q_{3} \\right)} - l_{4} \\cos{\\left(q_{3} \\right)} \\cos{\\left(q_{4} \\right)})\\mathbf{\\hat{b}_y} + (l_{1} \\cos{\\left(q_{3} \\right)} + l_{2} + l_{3} \\cos{\\left(q_{3} \\right)} - l_{4} \\sin{\\left(q_{3} \\right)} \\cos{\\left(q_{4} \\right)})\\mathbf{\\hat{b}_z}$" - ], - "text/plain": [ - "l₄⋅sin(q₄) b_x + (l₁⋅sin(q₃) - l₃⋅sin(q₃) - l₄⋅cos(q₃)⋅cos(q₄)) b_y + (l₁⋅cos( ↪\n", - "\n", - "↪ q₃) + l₂ + l₃⋅cos(q₃) - l₄⋅sin(q₃)⋅cos(q₄)) b_z" - ] - }, - "execution_count": 11, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "r_P1_P4.express(B)" ] }, { "cell_type": "code", - "execution_count": 13, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": "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", - "text/latex": [ - "$\\displaystyle \\left\\{l_{1}, l_{2}, l_{3}, l_{4}, q_{3}, q_{4}\\right\\}$" - ], - "text/plain": [ - "{l₁, l₂, l₃, l₄, q₃, q₄}" - ] - }, - "execution_count": 13, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "r_P1_P4.free_symbols(B)" ] @@ -165,7 +115,7 @@ ], "metadata": { "kernelspec": { - "display_name": "Turtle", + "display_name": "blade", "language": "python", "name": "python3" }, @@ -179,7 +129,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.8" + "version": "3.10.16" } }, "nbformat": 4, diff --git a/补课/多体动力学/06_Vector_Differentiation.md b/补课/多体动力学/06_Vector_Differentiation.md index de5ccdd..4e7cae5 100644 --- a/补课/多体动力学/06_Vector_Differentiation.md +++ b/补课/多体动力学/06_Vector_Differentiation.md @@ -3,4 +3,24 @@ Vector differentiation r = l dx A ^ p r/ p theta -partial derivative of r when observed from reference frame A with respect to theta \ No newline at end of file +partial derivative of r when observed from reference frame A with respect to theta + +p r/ p theta is meaningless if no frame is given! + +If theta, beta, alpah, l are all themselves functions of time +-> theta(t), beta(t), alpha(t), l(t), time t is the single variable + +r(t) = a1(t)ax + a2(t)ay + a3(t)az + +A^ d r / dt = da1 / dt * ax + ... + +use dot notation + +when the measure numbers are expressions containing implict functions of time, eg theta(t), the chain role can be used to calculate the derivative. + +A ^ dr /dt = A ^ (p r / p theta) * (d theta / dt) + A ^ (p r / p beta) * (d beta / dt) + ... + +if t is explict in expressions 最后要加上 A ^ (p r / p t) + +Second (and higher) derivatives + diff --git a/补课/多体动力学/06_Vector_differentiation.ipynb b/补课/多体动力学/06_Vector_differentiation.ipynb new file mode 100644 index 0000000..cdbecca --- /dev/null +++ b/补课/多体动力学/06_Vector_differentiation.ipynb @@ -0,0 +1,82 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import sympy as sm\n", + "import sympy.physics.mechanics as me\n", + "me.init_vprinting()" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "theta, beta, alpha, l = me.dynamicsymbols('theta, beta, alpha, l')\n", + "A, B, C, D = sm.symbols('A, B, C, D', cls=me.ReferenceFrame)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "B.orient_axis(A, theta, A.z)\n", + "C.orient_axis(B, beta, -B.x)\n", + "D.orient_axis(C, alpha, C.z)\n", + "B.dcm(A)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "r = l *D.x\n", + "r" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "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": "3.12.4" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/补课/多体动力学/06_Vector_differentiation.py b/补课/多体动力学/06_Vector_differentiation.py new file mode 100644 index 0000000..f1a8f2c --- /dev/null +++ b/补课/多体动力学/06_Vector_differentiation.py @@ -0,0 +1,32 @@ +import sympy as sm +import sympy.physics.mechanics as me +me.init_vprinting() + +theta, beta, alpha, l = me.dynamicsymbols('theta, beta, alpha, l') +A, B, C, D = sm.symbols('A, B, C, D', cls=me.ReferenceFrame) + +B.orient_axis(A, theta, A.z) +C.orient_axis(B, beta, -B.x) +D.orient_axis(C, alpha, C.z) + +r = l *D.x +print(r) + +print(r.express(C)) + +print(r.express(B)) + +print(r.express(A)) + +print(r.dot(C.x).diff(alpha)) + +print(r.dot(C.y).diff(alpha)) + +r_alpha_C = r.dot(C.x).diff(alpha) * C.x + r.dot(C.y).diff(alpha) * C.y +print(r_alpha_C) + +print(r.diff(alpha, C).express(C)) + +t = me.dynamicsymbols._t +print(theta.diff(t)) +