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kimotor_solver.py
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kimotor_solver.py
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# Copyright 2022-2024 Stefano Cottafavi <stefano.cottafavi@gmail.com>.
# SPDX-License-Identifier: GPL-2.0-only
import math
import numpy as np
from . import kimotor_linalg as kla
import wx
def coil_planner(type, r_in, r_out, dr, n_slot, n_loop, dir, start=0):
if type == "radial":
return radial(r_in, r_out, dr, n_slot, n_loop, dir, start)
def parallel(r1, r2, dr, th, turns, dir):
""" Compute layout points for coil with sides always aligned to radius
Args:
r1 (int): coil inner radius
r2 (int): coil outer radius
dr (int): spacing between coil loops (and also adj. coils)
th (float): coil trapezoid angle
turns (int): number of coil loops (windings)
dir (int): coil direction, from larger to smaller loop (0:CW normal, 1:CCW rverse)
Returns:
matrix, matrix, matrix: corners (excl. arc mids), outer arc mids, inner arc mids
"""
pts = []
mds = []
mdsi = []
# points
c = [0,0,0]
l0 = np.array([ c, [r1*math.cos(th/2), r1*math.sin(th/2), 0] ])
l0 = kla.line_offset(l0, -dr)
for turn in range(turns):
# offset line
lr = kla.line_offset(l0, -turn*dr)
# solve corners and order them
pc1 = kla.circle_line_intersect(lr, c, r1+turn*dr)
pc1 = pc1[0:2]
pc2 = kla.circle_line_intersect(lr, c, r2-turn*dr)
pc2 = pc2[0:2]
pc3 = np.array([ pc2[0],-pc2[1] ])
pc4 = np.array([ pc1[0],-pc1[1] ])
if dir == 0:
pts.extend([pc1, pc2, pc3, pc4])
else:
pts.extend([pc4, pc3, pc2, pc1])
# solve outer and inner mid-points
pm = np.array([ r2-turn*dr, 0 ])
pmi = np.array([ r1+turn*dr, 0 ])
mds.extend([pm])
mdsi.extend([pmi])
pm = np.matrix(pts) # points, excl. arc mids
mm = np.matrix(mds) # arc (outer) mids only
mmi = np.matrix(mdsi) # arc (inner) mids only
return pm, mm, mmi
def radial(r_in, r_out, dr, n_slot, n_loop, dir, start=0):
""" Compute layout points for coil with sides aligned to the local radial direction
Args:
r_in (int): coil inner radius
r_out (int): coil outer radius
dr (int): spacing between coil loops (as well as adjacent coils)
n_slot (in): number of slots
n_loop (int): number of coil loops
start (int): where does the coil start (0: wedge start, 1: wedge mid )
dir (string): coil direction, from larger to smaller loop ("cw" or "ccw" from an observer looking down from Z+ axis)
Returns:
numpy.matrix: list of coil waypoints
"""
# coil trapezoid angle
th = 2*math.pi/n_slot
waypts = []
# center
c = [0,0,0]
# angular shift of first arc and last arc mid-mid-points
Rcw = np.array([
[math.cos(th/4), -math.sin(th/4)],
[math.sin(th/4), math.cos(th/4)],
])
# reference radial line
l0 = np.array([ c, [r_in*math.cos(th/2), r_in*math.sin(th/2), 0] ])
for loop in range(n_loop):
# solve corner waypoint
lr = kla.line_offset(l0, -dr)
wp1 = kla.circle_line_intersect(lr, c, r_in + loop*dr)
wp1 = wp1[0:2]
lr = [c, [wp1[0], wp1[1], 0]]
wp2 = kla.circle_line_intersect(lr, c, r_out - loop*dr)
wp2 = wp2[0:2]
wp3 = np.array([ wp2[0], -wp2[1] ])
wp4 = np.array([ wp1[0], -wp1[1] ])
# solve outer and inner arcs mid waypoints
wpo = np.array([ r_out - loop*dr, 0 ])
wpi = np.array([ r_in + loop*dr, 0 ])
# rearrange waypoints
if dir == "cw":
if loop == 0:
if start == 0:
tp = wpi
waypts.extend([wp4, tp[0:2], wp1, wp2, wpo, wp3])
elif start == 1:
tp = np.matmul(Rcw, wpi)
waypts.extend([wpi, tp[0:2], wp1, wp2, wpo, wp3])
elif loop == n_loop-1:
tp = np.matmul(Rcw, wpo)
waypts.extend([wp4, wpi, wp1, wp2, tp[0:2], wpo])
else:
waypts.extend([wp4, wpi, wp1, wp2, wpo, wp3])
else:
if loop == 0:
if start == 0:
tp = wpi
waypts.extend([wp1, tp[0:2], wp4, wp3, wpo, wp2])
elif start == 1:
tp = np.matmul(Rcw, wpi)
waypts.extend([wpi, tp[0:2], wp4, wp3, wpo, wp2])
elif loop == n_loop-1:
tp = np.matmul(Rcw, wpo)
waypts.extend([wp1, wpi, wp4, wp3, tp[0:2], wpo])
else:
waypts.extend([wp1, wpi, wp4, wp3, wpo, wp2])
# move to the next radial
l0 = [ [wp1[0], wp1[1], 0], [wp2[0], wp2[1], 0] ]
waypts_m = np.matrix(waypts)
return waypts_m
def radial_old(r1,r2, dr,th,turns,dir):
""" Compute layout points for coil with sides aligned to the local radial direction
Args:
r1 (int): coil inner radius
r2 (int): coil outer radius
dr (int): spacing between coil loops (and also adj. coils)
th (float): coil trapezoid angle
turns (int): number of coil loops (windings)
dir (int): coil direction, from larger to smaller loop (0:CW normal, 1:CCW rverse)
Returns:
matrix, matrix, matrix: corners (excl. arc mids), outer arc mids, inner arc mids
"""
pts = []
mds = []
mdsi = []
# center
c = [0,0,0]
# first line
l0 = np.array([ c, [r1*math.cos(th/2), r1*math.sin(th/2), 0] ])
for turn in range(turns):
# offset previous line
lr = kla.line_offset(l0, -dr)
# solve corners and order them
pc1 = kla.circle_line_intersect(lr, c, r1+turn*dr)
pc1 = pc1[0:2]
lr = [c, [pc1[0], pc1[1], 0]]
pc2 = kla.circle_line_intersect(lr, c, r2-turn*dr)
pc2 = pc2[0:2]
pc3 = np.array([ pc2[0],-pc2[1] ])
pc4 = np.array([ pc1[0],-pc1[1] ])
if dir == 0:
pts.extend([pc1, pc2, pc3, pc4])
else:
pts.extend([pc4, pc3, pc2, pc1])
# solve outer and inner mid-points
pm = np.array([ r2-turn*dr, 0 ])
pmi = np.array([ r1+turn*dr, 0 ])
mds.extend([pm])
mdsi.extend([pmi])
#
l0 = [ [pc1[0], pc1[1], 0], [pc2[0], pc2[1], 0] ]
pm = np.matrix(pts) # points, excl. arc mids
mm = np.matrix(mds) # arc (outer) mids only
mmi = np.matrix(mdsi) # arc (inner) mids only
return pm, mm, mmi