Advertisement
Not a member of Pastebin yet?
Sign Up,
it unlocks many cool features!
- from numpy import sin, cos
- import numpy as np
- import matplotlib.pyplot as plt
- import scipy.integrate as integrate
- import matplotlib.animation as animation
- G = 9.8 # acceleration due to gravity, in m/s^2
- L1 = 1.0 # length of pendulum 1 in m
- L2 = 1.0 # length of pendulum 2 in m
- M1 = 1.0 # mass of pendulum 1 in kg
- M2 = 1.0 # mass of pendulum 2 in kg
- def derivs(state, t): # dynamics of system
- dydx = np.zeros_like(state)
- dydx[0] = state[1]
- del_ = state[2] - state[0]
- den1 = (M1 + M2)*L1 - M2*L1*cos(del_)*cos(del_)
- dydx[1] = (M2*L1*state[1]*state[1]*sin(del_)*cos(del_) + M2*G*sin(state[2])*cos(del_) +
- M2*L2*state[3]*state[3]*sin(del_) - (M1 + M2)*G*sin(state[0]))/den1
- dydx[2] = state[3]
- den2 = (L2/L1)*den1
- dydx[3] = (-M2*L2*state[3]*state[3]*sin(del_)*cos(del_) + (M1 + M2)*G*sin(state[0])*cos(del_) -
- (M1 + M2)*L1*state[1]*state[1]*sin(del_) - (M1 + M2)*G*sin(state[2]))/den2
- return dydx
- dt = 0.05
- t = np.arange(0.0, 20, dt)
- th1 = 90.0
- w1 = 0.0
- th2 = 0.0
- w2 = 0.0
- state = np.radians([th1, w1, th2, w2]) # initial state
- y = integrate.odeint(derivs, state, t) # integrate ODE using scipy.integrate.
- x1 = L1*sin(y[:, 0])
- y1 = -L1*cos(y[:, 0])
- x2 = L2*sin(y[:, 2]) + x1
- y2 = -L2*cos(y[:, 2]) + y1
- fig = plt.figure()
- ax = fig.add_subplot(111, autoscale_on=False, xlim=(-2, 2), ylim=(-2, 2))
- ax.grid()
- line, = ax.plot([], [], 'o-', lw=2)
- time_template = 'time = %.1fs'
- time_text = ax.text(0.05, 0.9, '', transform=ax.transAxes)
- def init():
- line.set_data([], [])
- time_text.set_text('')
- return line, time_text
- def animate(i):
- thisx = [0, x1[i], x2[i]] # x codrin of point making pendulum
- thisy = [0, y1[i], y2[i]] # y cord of point
- line.set_data(thisx, thisy)
- time_text.set_text(time_template % (i*dt))
- return line, time_text
- ani = animation.FuncAnimation(fig, animate, np.arange(1, len(y)),interval=25, blit=True, init_func=init)
- plt.show()
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement