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# Configure Jupyter so figures appear in the notebook
%matplotlib inline
# Configure Jupyter to display the assigned value after an assignment
%config InteractiveShell.ast_node_interactivity='last_expr_or_assign'
# import functions from the modsim.py module
from modsim import *
Our favorite event at Lumberjack Competitions is axe throwing. The axes used for this event typically weigh 1.5 to 2 kg, with handles roughly 0.7 m long. They are thrown overhead at a target typically 6 m away and 1.5 m off the ground. Normally, the axe makes one full rotation in the air to hit the target blade first, with the handle close to vertical.
Here's a version of make_system that sets the initial conditions.
The state variables are x, y, theta, vx, vy, omega, where theta is the orientation (angle) of the axe in radians and omega is the angular velocity in radians per second.
I chose initial conditions based on videos of axe throwing.
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m = UNITS.meter
s = UNITS.second
kg = UNITS.kilogram
radian = UNITS.radian
def make_system():
"""Makes a System object for the given conditions.
returns: System with init, ...
"""
P = Vector(0, 2) * m
V = Vector(8, 4) * m/s
theta = 2 * radian
omega = -7 * radian/s
init = State(P=P, V=V, theta=theta, omega=omega)
t_end = 1.0 * s
return System(init=init, t_end=t_end,
g = 9.8 * m/s**2,
mass = 1.5 * kg,
length = 0.7 * m)
Let's make a System
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system = make_system()
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system.init
As a simple starting place, I ignore drag, so vx and omega are constant, and ay is just -g.
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def slope_func(state, t, system):
"""Computes derivatives of the state variables.
state: State (x, y, x velocity, y velocity)
t: time
system: System object with length0, m, k
returns: sequence (vx, vy, ax, ay)
"""
P, V, theta, omega = state
A = Vector(0, -system.g)
alpha = 0 * radian / s**2
return V, A, omega, alpha
As always, let's test the slope function with the initial conditions.
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slope_func(system.init, 0, system)
And then run the simulation.
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results, details = run_ode_solver(system, slope_func)
details
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results.tail()
The simplest way to visualize the results is to plot the state variables as a function of time.
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def plot_position(P):
x = P.extract('x')
y = P.extract('y')
plot(x, label='x')
plot(y, label='y')
decorate(xlabel='Time (s)',
ylabel='Position (m)')
plot_position(results.P)
We can plot the velocities the same way.
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def plot_velocity(V):
vx = V.extract('x')
vy = V.extract('y')
plot(vx, label='vx')
plot(vy, label='vy')
decorate(xlabel='Time (s)',
ylabel='Velocity (m/s)')
plot_velocity(results.V)
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plot(results.theta, label='theta', color='C2')
decorate(xlabel='Time (s)',
ylabel='Angle (radian)')
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plot(results.omega, label='omega', color='C2')
decorate(xlabel='Time (s)',
ylabel='Angular velocity (rad/s)')
Another way to visualize the results is to plot y versus x. The result is the trajectory through the plane of motion.
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def plot_trajectory(P, **options):
x = P.extract('x')
y = P.extract('y')
plot(x, y, **options)
decorate(xlabel='x position (m)',
ylabel='y position (m)')
plot_trajectory(results.P, label='trajectory')
Now we're ready to animate the results. The following figure shows the frame and the labeled points A, B, C, and D.
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def make_frame(theta):
rhat = Vector(pol2cart(theta, 1))
that = rhat.perp()
return rhat, that
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P, V, theta, omega = results.first_row()
rhat, that = make_frame(theta)
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rhat
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that
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np.dot(rhat, that)
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O = Vector(0, 0)
plot_segment(O, rhat)
plot_segment(O, that)
plt.axis('equal')
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xs = results.P.extract('x')
ys = results.P.extract('y')
l1 = 0.6 * m
l2 = 0.1 * m
def draw_func(state, t):
plt.axis('equal')
set_xlim([0,8])
set_ylim([0,6])
P, V, theta, omega = state
rhat, that = make_frame(theta)
# plot the handle
A = P - l1 * rhat
B = P + l2 * rhat
plot_segment(A, B, color='red')
# plot the axe head
C = B + l2 * that
D = B - l2 * that
plot_segment(C, D, color='black', linewidth=10)
# plot the COG
x, y = P
plot(x, y, 'bo')
decorate(xlabel='x position (m)',
ylabel='y position (m)')
During the animation, the parts of the axe seem to slide around relative to each other. I think that's because the lines and circles get rounded off to the nearest pixel.
Here's the final state of the axe at the point of impact (assuming the target is 8 m away).
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state = results.first_row()
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draw_func(state, 0)
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animate(results, draw_func)
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