muscClasse.py

import numpy as np

class Musculo:
    
    def __init__(self, Fmax, Lceopt, LslackSE,
                 LslackPE, alpha, Tact, Tdeact, FMlen, VMmax, 
                 Lce0, dt):
        
        '''
        Inputs:
            alpha: float, (rad)
            Tact: float, (ms)
            Tdeact: float, (ms)
        '''
        
        self.Fmax = Fmax
        self.Lceopt = Lceopt
        self.LslackSE = LslackSE
        self.kse = self.Fmax/(0.04*self.LslackSE)**2
        self.LslackPE = LslackPE
        self.kpe = 5.0
        self.epsilon0 = 0.6
        self.alpha = alpha
        self.Tact = Tact/1000  #[s]
        self.Tdeact = Tdeact/1000  #[s]
        self.FMlen = FMlen
        self.VMmax = VMmax
        
        self.a = 0.01
        self.Lcenorm = Lce0/self.Lceopt
        
        self.Fcenorm = 0.0
        self.Lsenorm = 0.0
        self.Fpenorm = 0.0
        self.Fsenorm = 0.0
        self.F0 = 0.0
        self.b = 0.0
        
        self.dt = dt

    def calculoComprSerie(self, Lmtnorm):
        self.Lsenorm = Lmtnorm - self.Lcenorm*np.cos(self.alpha)
        
    
    def computaForcaParalelo(self):
        self.Fpenorm = (np.exp(self.kpe*(self.Lcenorm - 1)/self.epsilon0) - 1)/(np.exp(self.kpe - 1))
        
    
    def computaForcaSerie(self):
        if self.Lsenorm >= self.LslackSE/self.Lceopt:
            self.Fsenorm = self.kse*(self.Lsenorm - self.LslackSE/self.Lceopt)**2/self.Fmax*self.Lceopt**2
        else:
            self.Fsenorm = 0.0
        
    
    def computaForcaCE(self):
        self.Fcenorm = (self.Fsenorm - self.Fpenorm*np.cos(self.alpha))/np.cos(self.alpha)
        

    def curvaForcaCompr(self):
        self.F0 = np.exp(-(self.Lcenorm-1)**2/0.45)
        

    def calculo_a(self, u):
        if u > self.a:
            tau = self.Tact*(0.5 + 1.5*self.a)
        else:
            tau = self.Tdeact/(0.5 + 1.5*self.a)

        dadt = (u - self.a)/tau

        self.a = self.a + self.dt*dadt
        
    
    def calculo_b(self):
        if self.Fcenorm > self.a*self.F0:
            self.b = (2 + 2/0.25)*((self.a*self.F0*self.FMlen) - self.Fcenorm)/(self.FMlen - 1)
        else:
            self.b = self.a*self.F0 + (self.Fcenorm/0.25)
        
    
    def ComprimentoCE(self):
        dLcenormdt = (0.25+0.75*self.a)*self.VMmax*(self.Fcenorm - self.a*self.F0)/self.b
        self.Lcenorm = self.Lcenorm + self.dt*dLcenormdt
        
    
    def atualizaMusculo(self, Lmt, u):
        Lmtnorm = Lmt/self.Lceopt        
        self.calculoComprSerie(Lmtnorm)
        self.computaForcaParalelo()
        self.computaForcaSerie()
        self.computaForcaCE()
        self.curvaForcaCompr()
        self.calculo_a(u)
        self.calculo_b()
        self.ComprimentoCE()        
        F = self.Fsenorm * self.Fmax
        
        return F

Tarefa 11 - Priscila Acamine.ipynb