public bool DoTest()
{
// Load
Load TestLoad = new Load(1.01, 2.01);
if (TestLoad.Mass != 1.01) return false;
if (TestLoad.MomentOfInertia != 2.01) return false;
// Motor
//Motor TestMotor = new Motor(1.01, 2.01, 3.01, 4.01, 5.01, 6.01, 7.01);
//if (TestMotor.Mass != 1.01) return false;
//if (TestMotor.MaxTemp != 2.01) return false;
//if (TestMotor.MomentOfInertia != 3.01) return false;
//if (TestMotor.Resistance != 4.01) return false;
//if (TestMotor.Inductance != 5.01) return false;
//if (TestMotor.ThermalResistance != 6.01) return false;
//if (TestMotor.KT != 7.01) return false;
// SimulationEnv
SimulationEnv TestEnvironment = new SimulationEnv(0.01, 1.01, 2.01, 3.01, 4.01, 5.01, "6.01");
if (TestEnvironment.StaticFriction != 0.01) return false;
if (TestEnvironment.DynamicFriction != 1.01) return false;
if (TestEnvironment.PreLoadForce != 2.01) return false;
if (TestEnvironment.ThrustForce != 3.01) return false;
if (TestEnvironment.AmbientTemp != 4.01) return false;
if (TestEnvironment.MechEfficiency != 5.01) return false;
if (!TestEnvironment.Cooling.Equals("6.01")) return false;
return true;
}
/// <summary>
/// Start a simulation
/// </summary>
/// <param name="initial">The initial state</param>
/// <param name="motor">The motor object</param>
/// <param name="load">The load</param>
/// <param name="path">The path</param>
public bool Start(IRecord initial, IMotor motor, ILoad load, IPath path, SimulationEnv env)
{
_record = initial;
_motor = motor;
_load = load;
_path = path;
double mass = _load.Mass + _motor.CoilMass;
int count = _record.Time.Length;
if (_record.Time == null || (_record.Position == null && _record.Velocity == null && _record.Acceleration == null))
return false;
if (_record.Acceleration == null)
_record.Acceleration = new double[count];
if (_record.Velocity == null)
_record.Velocity = new double[count];
if (_record.Position == null)
_record.Position = new double[count];
_record.RMSforce = Math.Pow(mass * _record.Acceleration[0], 2);
if (_record.Acceleration != null && !isZero(_record.Acceleration))
{
if (isZero(_record.Velocity))
{
for (int i = 1; i < count; i++)
{
_record.Velocity[i] = (_record.Time[i] - _record.Time[i - 1]) * _record.Acceleration[i] + _record.Velocity[i - 1];
_record.Position[i] = (_record.Time[i] - _record.Time[i - 1]) * _record.Velocity[i] + _record.Position[i - 1];
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
else if (!isZero(_record.Velocity) && isZero(_record.Position))
{
for (int i = 1; i < count; i++)
{
_record.Position[i] = (_record.Time[i] - _record.Time[i - 1]) * _record.Velocity[i] + _record.Position[i - 1];
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
else
{
for (int i = 1; i < count; i++)
{
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
}
else if (_record.Velocity != null && !isZero(_record.Velocity))
{
if (isZero(_record.Position))
{
for (int i = 1; i < count; i++)
{
_record.Position[i] = (_record.Time[i] - _record.Time[i - 1]) * _record.Velocity[i] + _record.Position[i - 1];
_record.Acceleration[i] = (_record.Velocity[i] - _record.Velocity[i - 1]) / (_record.Time[i] - _record.Time[i - 1]);
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
else
{
for (int i = 1; i < count; i++)
{
_record.Acceleration[i] = (_record.Velocity[i] - _record.Velocity[i - 1]) / (_record.Time[i] - _record.Time[i - 1]);
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
}
else
{
for (int i = 1; i < count; i++)
{
_record.Velocity[i] = (_record.Position[i] - _record.Position[i - 1]) / (_record.Time[i] - _record.Time[i - 1]);
_record.Acceleration[i] = (_record.Velocity[i] - _record.Velocity[i - 1]) / (_record.Time[i] - _record.Time[i - 1]);
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
double efficiency = env.MechEfficiency * 0.01;
_record.RMSforce = Math.Sqrt(_record.RMSforce / count) / efficiency;
_record.MAXforce = (mass * _record.Acceleration.Max() + env.StaticFriction + env.DynamicFriction * _record.Velocity.Max() + env.ThrustForce) / efficiency;
_record.RMScurrent = _record.RMSforce / _motor.ForceConstant;
_record.MAXcurrent = _record.MAXforce / _motor.ForceConstant;
_record.TemperatureRise = (Math.Pow(_record.RMSforce / _motor.MotorConstant, 2) * _motor.ThermalResistance);
Write();
return true;
}