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(), ...)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.
the initial (state) values for the DE system. If y
has a name attribute, the names will be used to label the output
matrix.
the initial derivatives of the state variables of the DE system.
time sequence for which output is wanted; the first
value of times must be the initial time.
list of parameters that overrule the default parameter values
the solver to use; only mebdfi available for now
maximal number of steps per output interval taken by the solver
absolute error tolerance, either a scalar or a vector, one value for each y.
relative error tolerance, either a scalar or a vector, one value for each y,
if TRUE the mixed error significant digits computed using the reference solution at time 0.1 are printed
a list which specifies the initial conditions used ini,
whether the problem is stiff, and the damping. The default is
list(ini=1,stiff=0,damp=0)
additional arguments passed to the solver .
Karline Soetaert <karline.soetaert@nioz.nl>
Francesca Mazzia <mazzia@dm.uniba.it>
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)
url : 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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