crank | R Documentation |
The crank problem is a constrained mechanical system including both rigid and elastic bodies
It is a differential algebraic equation of index 2, 24 equations.
crank (times=seq(0, 0.1, by = 0.001), yini = NULL, dyini = NULL,
parms = list(), printmescd = TRUE, method = mebdfi,
atol = 1e-6, rtol = 1e-6, maxsteps = 1e+06,
options = list(), ...)
yini |
the initial (state) values for the DE system. If |
dyini |
the initial derivatives of the state variables of the DE system. |
times |
time sequence for which output is wanted; the first
value of |
parms |
list of parameters that overrule the default parameter values |
method |
the solver to use; only |
maxsteps |
maximal number of steps per output interval taken by the solver |
atol |
absolute error tolerance, either a scalar or a vector, one value for each y. |
rtol |
relative error tolerance, either a scalar or a vector, one value for each y, |
printmescd |
if TRUE the mixed error significant digits computed using the reference solution at time 0.1 are printed |
options |
a list which specifies the initial conditions used |
... |
additional arguments passed to the solver . |
The default parameters are: M1 = 0.36, M2 = 0.151104, M3 = 0.075552, L1 = 0.15, L2 = 0.30, J1 = 0.002727, J2 = 0.0045339259, EE = 0.20e12, NUE = 0.30, BB = 0.0080, HH = 0.0080, RHO = 7870.0, GRAV = 0.0, OMEGA = 150.0
There are two default initial conditions - set with options(ini=x)
A matrix of class deSolve
with up to as many rows as elements in
times
and as many
columns as elements in yini
, plus an additional column (the first)
for the time value.
There will be one row for each element in times
unless the
solver returns with an unrecoverable error. If
yini
has a names attribute, it will be used to label the columns
of the output value.
Karline Soetaert <karline.soetaert@nioz.nl>
Francesca Mazzia <mazzia@dm.uniba.it>
http://archimede.dm.uniba.it/~testset
Simeon, B.: Modelling a flexible slider crank mechanism by a mixed system of DAEs and PDEs, Math. Modelling of Systems 2, 1-18 (1996);
out <- crank()
plot(out, lwd = 2, which = 1:9)
# compare with reference solution (only the first seven components)
refsol <- reference("crank")
max(abs(out[nrow(out),2:8] - refsol[1:7])/refsol[1:7])
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