added Python DigitalTwin code

MAGLEV_DIGITALTWIN_PYTHON/parameters.py

@@ -0,0 +1,57 @@
+"""
+Quad parameters and constants for maglev simulation
+Ported from quadParamsScript.m and constantsScript.m
+"""
+
+import numpy as np
+
+
+class QuadParams:
+    """Quadrotor/maglev pod parameters"""
+    
+    def __init__(self):
+        # Pod mechanical characteristics
+        frame_l = 0.61
+        frame_w = 0.149  # in meters
+        self.yh = 3 * 0.0254  # yoke height
+        yh = self.yh
+        
+        # Yoke/rotor locations (at corners)
+        self.rotor_loc = np.array([
+            [frame_l/2, frame_l/2, -frame_l/2, -frame_l/2],
+            [-frame_w/2, frame_w/2, frame_w/2, -frame_w/2],
+            [yh, yh, yh, yh]
+        ])
+        
+        # Sensor locations (independent from yoke/rotor locations, at edge centers)
+        self.sensor_loc = np.array([
+            [frame_l/2, 0, -frame_l/2, 0],
+            [0, frame_w/2, 0, -frame_w/2],
+            [yh, yh, yh, yh]
+        ])
+        
+        self.gap_sigma = 0.5e-3  # usually on micron scale
+        
+        # Mass of the quad, in kg
+        self.m = 6
+        
+        # The quad's moment of inertia, expressed in the body frame, in kg-m^2
+        self.Jq = np.diag([0.017086, 0.125965, 0.131940])
+        self.invJq = np.linalg.inv(self.Jq)
+        
+        # Quad electrical characteristics
+        maxcurrent = 30
+        self.yokeR = 2.2  # in ohms
+        self.yokeL = 5e-3  # in henries (2.5mH per yoke)
+        self.maxVoltage = maxcurrent * self.yokeR  # max magnitude voltage supplied to each yoke
+
+
+class Constants:
+    """Physical constants"""
+    
+    def __init__(self):
+        # Acceleration due to gravity, in m/s^2
+        self.g = 9.81
+        
+        # Mass density of moist air, in kg/m^3
+        self.rho = 1.225