vault backup: 2025-02-28 16:17:23

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":"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\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":"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    （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":"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":[]

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
+}

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
+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 
+

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
+}

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))
+