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How to Solve for the Motion of a Double Pendulum

I want to plot the motion of a double pendulum with a spring in python. I need to plot the theta1, theta2, r, and their first derivatives. I have found my equations for the motion, which are second-order ODEs so I then converted them to first-order ODEs where x1=theta1, x2=theta1-dot, y1=theta2, y2=theta2-dot, z1=r, and z2=r-dot. Here is a picture of the double pendulum problem: enter image description here
Here is my code:
from scipy.integrate import solve_ivp
from numpy import pi, sin, cos, linspace
g = 9.806 #Gravitational acceleration
l0 = 1 #Natural length of spring is 1
k = 2 #K value for spring is 2
OA = 2 #Length OA is 2
m = 1 #Mass of the particles is 1
def pendulumDynamics1(t, x): #Function to solve for theta-1 double-dot
x1 = x[0]
x2 = x[1]
y1 = y[0]
y2 = y[1]
z1 = z[0]
z2 = z[1]
Fs = -k*(z1-l0)
T = m*(x2**2)*OA + m*g*cos(x1) + Fs*cos(y1-x1)
x1dot = x2
x2dot = (Fs*sin(y1-x1) - m*g*sin(x1))/(m*OA) # angles are in radians
return [x1dot,x2dot]
def pendulumDynamics2(t, y): #Function to solve for theta-2 double-dot
x1 = x[0]
x2 = x[1]
y1 = y[0]
y2 = y[1]
z1 = z[0]
z2 = z[1]
Fs = -k*(z1-l0)
y1dot = y2
y2dot = (-g*sin(y1) - (Fs*cos(y1-x1)*sin(x1))/m + g*cos(y1-x1)*sin(x1) - x2*z1*sin(x1))/z1
return [y1dot,y2dot]
def pendulumDynamics3(t, z): #Function to solve for r double-dot (The length AB which is the spring)
x1 = x[0]
x2 = x[1]
y1 = y[0]
y2 = y[1]
z1 = z[0]
z2 = z[1]
Fs = -k*(z1-l0)
z1dot = z2
z2dot = g*cos(y1) - Fs/m + (y2**2)*z1 + x2*OA*cos(y1-x1) - (Fs*(sin(y1-x1))**2)/m + g*sin(x1)*sin(y1-x1)
return [z1dot,z2dot]
# Define initial conditions, etc
d2r = pi/180
x0 = [30*d2r, 0] # start from 30 deg, with zero velocity
y0 = [60*d2r, 0] # start from 60 deg, with zero velocity
z0 = [1, 0] #Start from r=1
t0 = 0
tf = 10
#Integrate dynamics, initial value problem
sol1 = solve_ivp(pendulumDynamics1,[t0,tf],x0,dense_output=True) # Save as a continuous solution
sol2 = solve_ivp(pendulumDynamics2,[t0,tf],y0,dense_output=True) # Save as a continuous solution
sol3 = solve_ivp(pendulumDynamics3,[t0,tf],z0,dense_output=True) # Save as a continuous solution
t = linspace(t0,tf,200) # determine solution at these times
dt = t[1]-t[0]
x = sol1.sol(t)
y = sol2.sol(t)
z = sol3.sol(t)
I have 3 functions in my code, each to solve for x, y, and z. I then use solve_ivp function to solve for x, and y, and z. The error in the code is:
`File "C:\Users\omora\OneDrive\Dokument\AERO 211\project.py", line 13, in pendulumDynamics1
y1 = y[0]
NameError: name 'y' is not defined`
I don't understand why it is saying that y is not defined, because I defined it in my functions.

Your system is closed without friction, thus can be captured by the Lagrange or Hamiltonian formalism. You have 3 position variables, thus a 6-dimensional dynamical state, complemented either by the velocities or the impulses.
Let q_k be theta_1, theta_2, r, Dq_k their time derivatives and p_k the impulse variables to q_k, then the dynamics can be realized by
def DoublePendulumSpring(u,t,params):
m_1, l_1, m_2, l_2, k, g = params
q_1,q_2,q_3 = u[:3]
p = u[3:]
A = [[l_1**2*(m_1 + m_2), l_1*m_2*q_3*cos(q_1 - q_2), -l_1*m_2*sin(q_1 - q_2)],
[l_1*m_2*q_3*cos(q_1 - q_2), m_2*q_3**2, 0],
[-l_1*m_2*sin(q_1 - q_2), 0, m_2]]
Dq = np.linalg.solve(A,p)
Dq_1,Dq_2,Dq_3 = Dq
T1 = Dq_2*q_3*sin(q_1 - q_2) + Dq_3*cos(q_1 - q_2)
T3 = Dq_1*l_1*cos(q_1 - q_2) + Dq_2*q_3
Dp = [-l_1*(m_2*Dq_1*T1 + g*(m_1+m_2)*sin(q_1)),
l_1*m_2*Dq_1*T1 - g*m_2*q_3*sin(q_2),
m_2*Dq_2*T3 + g*m_2*cos(q_2) + k*(l_2 - q_3) ]
return [*Dq, *Dp]
For a derivation see the Euler-Lagrange equations and their connection to the Hamilton equations. You might get asked about such a derivation.
This, after suitable defining the parameter tuple and initial conditions, can be fed to odeint and produces a solution that can then be plotted, animated or otherwise examined. The lower bob traces a path like the one below, not periodic and not very deterministic. (The fulcrum and the arc of the upper bob are also inserted, but less interesting.)

def pendulumDynamics1(t, x):
x1 = x[0]
x2 = x[1]
y1 = y[0]
y2 = y[1]
z1 = z[0]
z2 = z[1]
You only pass x as a parameter. The code inside the function has no idea what y and z refer to.
You will need to change the function call to also include those variables.
def pendulumDynamics1(t, x, y, z):

starting Summation value at i=2

I am trying to plot the error of this algorithm against h and I have run into a problem, for this error calculation, it cant use the first value, as it divides 0/0. How do I go about ignoring the first value where x =0? I basically need to start the summation on i=2 on line 46 (the absolute error one). Any help is much appreciated
import numpy
import matplotlib.pyplot as pyplot
from scipy.optimize import fsolve
from matplotlib import rcParams
rcParams['font.family'] = 'serif'
rcParams['font.size'] = 16
rcParams['figure.figsize'] = (12,6)
printing = False
def rk3(A, bvector, y0, interval, N):
h = (interval[1] - interval[0]) / N
x = numpy.linspace(interval[0], interval[1], N+1)
y = numpy.zeros((len(y0), N+1))
y[:, 0] = y0
b = bvector
for i in range(N):
y_1 = y[:, i] + h *(numpy.dot(A, y[:, i]) + b(x[i]))
y_2= (3/4)*y[:, i] + 0.25*y_1+0.25* h* (numpy.dot(A,y_1)+b(x[i]+h))
y[:, i+1] = (1/3)*y[:, i] + (2/3)*y_2 + (2/3)*h*(numpy.dot(A,y_2)+b(x[i]+h))
return x, y
def exact( interval, N):
w = numpy.linspace(interval[0], interval[1], N+1)
z = numpy.array([numpy.exp(-1000*w),(1000/999)*(numpy.exp(-w)-numpy.exp(-1000*w))])
return w, z
A=numpy.array([[-1000,0],[1000,-1]])
def bvector(x):
return numpy.zeros(2)
y0=numpy.array([1,0])
interval=numpy.array([0,0.1])
N=numpy.arange(40,401,40)
h=numpy.zeros(len(N))
abs_err = numpy.zeros(len(N))
for i in range(len(N)):
interval=numpy.array([0,0.1])
h[i]=(interval[1] - interval[0]) / N[i]
x, y = rk3(A, bvector, y0, interval, N[i])
w,z=exact(interval,N[i])
abs_err[i] = h[i]*numpy.sum(numpy.abs((y[1,:]-z[1,:])/z[1,:]))
p = numpy.polyfit(numpy.log(h), numpy.log(abs_err),1)
fig = pyplot.figure(figsize = (12, 8), dpi = 50)
pyplot.loglog(h, abs_err, 'kx')
pyplot.loglog(h, numpy.exp(p[1]) * h**(p[0]), 'b-')
pyplot.xlabel('$h$', size = 16)
pyplot.ylabel('$|$Error$|$', size = 16)
pyplot.show()

Simply add an if for the value which is zero. so for example if the dividing variable is x.
if x>0:
#code here for the calculation
The above code will use all positive non-zero value. to only skip zero use this
if x!=0:
You can also us the three arguments of a for loop:
for a in range(start_value, end_value, increment):
so this means
for a in range(2,10,2):
print a
will give you the below result
2
4
6
8

Lotka-Volterra equations(predator prey) using Runge-Kutta in Python

I am trying to write a program using the Lotka-Volterra equations for predator-prey interactions. Solve Using ODE's:
dx/dt = a*x - B*x*y
dy/dt = g*x*y - s*y
Using 4th order Runge-Kutta method
I need to plot a graph showing both x and y as a function of time from t = 0 to t=30.
a = alpha = 1
b = beta = 0.5
g = gamma = 0.5
s = sigma = 2
initial conditions x = y = 2
Here is my code so far but not display anything on the graph. Some help would be nice.
#!/usr/bin/env python
from __future__ import division, print_function
import matplotlib.pyplot as plt
import numpy as np
def rk4(f, r, t, h):
""" Runge-Kutta 4 method """
k1 = h*f(r, t)
k2 = h*f(r+0.5*k1, t+0.5*h)
k3 = h*f(r+0.5*k2, t+0.5*h)
k4 = h*f(r+k3, t+h)
return (k1 + 2*k2 + 2*k3 + k4)/6
def f(r, t):
alpha = 1.0
beta = 0.5
gamma = 0.5
sigma = 2.0
x, y = r[2], r[2]
fxd = x*(alpha - beta*y)
fyd = -y*(gamma - sigma*x)
return np.array([fxd, fyd], float)
tpoints = np.linspace(0, 30, 0.1)
xpoints = []
ypoints = []
r = np.array([2, 2], float)
for t in tpoints:
xpoints += [r[2]]
ypoints += [r[2]]
r += rk4(f, r, t, h)
plt.plot(tpoints, xpoints)
plt.plot(tpoints, ypoints)
plt.xlabel("Time")
plt.ylabel("Population")
plt.title("Lotka-Volterra Model")
plt.savefig("Lotka_Volterra.png")
plt.show()

A simple check of your variable tpoints after running your script shows it's empty:
In [7]: run test.py
In [8]: tpoints
Out[8]: array([], dtype=float64)
This is because you're using np.linspace incorrectly. The third argument is the number of elements desired in the output. You've requested an array of length 0.1.
Take a look at np.linspace's docstring. You won't have a problem figuring out how to adjust your code.

1) define 'h' variable.
2) use
tpoints = np.arange(30) #array([0, 1, 2, ..., 30])
not
np.linspace()
and don't forget to set time step size equal to h:
h=0.1
tpoints = np.arange(0, 30, h)
3) be careful with indexes:
def f(r,t):
...
x, y=r[0], r[1]
...
for t in tpoints:
xpoints += [r[0]]
ypoints += [r[1]]
...
and better use .append(x):
for t in tpoints:
xpoints.append(r[0])
ypoints.append(r[1])
...
Here's tested code for python 3.7 (I've set h=0.001 for more presize)
import matplotlib.pyplot as plt
import numpy as np
def rk4(r, t, h): #edited; no need for input f
""" Runge-Kutta 4 method """
k1 = h*f(r, t)
k2 = h*f(r+0.5*k1, t+0.5*h)
k3 = h*f(r+0.5*k2, t+0.5*h)
k4 = h*f(r+k3, t+h)
return (k1 + 2*k2 + 2*k3 + k4)/6
def f(r, t):
alpha = 1.0
beta = 0.5
gamma = 0.5
sigma = 2.0
x, y = r[0], r[1]
fxd = x*(alpha - beta*y)
fyd = -y*(gamma - sigma*x)
return np.array([fxd, fyd], float)
h=0.001 #edited
tpoints = np.arange(0, 30, h) #edited
xpoints, ypoints = [], []
r = np.array([2, 2], float)
for t in tpoints:
xpoints.append(r[0]) #edited
ypoints.append(r[1]) #edited
r += rk4(r, t, h) #edited; no need for input f
plt.plot(tpoints, xpoints)
plt.plot(tpoints, ypoints)
plt.xlabel("Time")
plt.ylabel("Population")
plt.title("Lotka-Volterra Model")
plt.savefig("Lotka_Volterra.png")
plt.show()
You can also try to plot "cycles":
plt.xlabel("Prey")
plt.ylabel("Predator")
plt.plot(xpoints, ypoints)
plt.show()
https://i.stack.imgur.com/NB9lc.png

Bauded Lorenz Parameter in odeint

I am trying to create a Lorenz solution whereby one of the parameters is modulated.
In creating a straightforward set of Lorenz equations, using odeint is simple:
Multiplier = 10. # Use multiplier to widen bandwidth
Sigma = Multiplier * 16.
Rho = Multiplier * 45.6
Beta = Multiplier * 4
##################################
#
# dx/dt = Sigma(y-x)
# dy/dt = Rho*x - y-20xz
# dz/dt = 5xy - Beta*z
#
##################################
def f(y, t, param):
Xi = y[0]
Yi = y[1]
Zi = y[2]
Sigma = param[0]
Rho = param[1]
beta = param[2]
f0 = Sigma*(Yi -Xi)
f1 = Rho*Xi - Yi - 20*Xi*Zi
f2 = 5*Xi*Yi - beta*Zi
return [f0, f1, f2]
# Initial Conditions
X0 = 1.0
Y0 = 1.0
Z0 = 1.0
y0 = [X0, Y0, Z0]
t = np.arange(0, 10, .001) #Create 10 seconds of data
dt = t[1] - t[0]
param = [Sigma, Rho, Beta]
# Solve the DEs
soln = odeint(f, y0, t, args = (param,))
X = soln[:, 0]
Y = soln[:, 1]
Z = soln[:, 2]
The above code works perfectly to create a simple Lorenz system. I would now like to create a modulated parameter Lorenz system to study its effectiveness in communications. This can be done by modulating the parameter Beta. Beta(t) can take on one of two values, 4.0 or 4.4 to represent '0' or '1'.
In order to modulate beta, I chose random 1's and 0's and assigned them to two values of beta, 4.0 and 4.4, at 500 samples per '1' or '0'.
Bit_Rate = 2.
Number_of_Bits = np.int(len(X)*dt*Bit_Rate)
Number_of_samples_per_bit = np.int(1/ dt / Bit_Rate)
Bauded_Beta = []
for i in range(0, Number_of_Bits):
Bit = np.random.randint(0,2)
if Bit == 0:
for j in range(Number_of_samples_per_bit):
Bauded_Beta.append(Multiplier * 4.4)
else:
for k in range(Number_of_samples_per_bit):
Bauded_Beta.append(Multiplier * 4.0)
I then changed the call to the odeint set of parameters to:
param = [Sigma, Rho, Bauded_Beta]
param = [Sigma, Rho, Bauded_Beta]
# Solve the DEs
soln = odeint(f, y0, t, args = (param,))
X = soln[:, 0]
Y = soln[:, 1]
Z = soln[:, 2]
When I run this, I get the following error message, "Illegal input detected (internal error).
Run with full_output = 1 to get quantitative information.
ValueError: setting an array element with a sequence.
odepack.error: Result from function call is not a proper array of floats.
ValueError: setting an array element with a sequence.
odepack.error: Result from function call is not a proper array of floats."
I know this error is from beta no longer being constant. But, how do I pass a modulated parameter to odeint?

Solving ODE in complex domain with Python (or Matlab)

As a test for a more complicated system, I want to solve a differential equation dw/dz = w where the function w = w(z) is complex valued and z = x+iy as usual. The boundary conditions are w = i when z = i. The solution is of course complex and defined on the argand plane. I was hoping to solve this with some standard ODE solvers in python. My method is to first define a grid in the argand plane (lines of constant x and y) and then loop through each grid line and call an ODE solver on each iteration. In the below code I am attempting to integrate my differential equation between 1j and 2j, but the resulting vector of w is just 1j! Can anyone advise me what to do? Thanks
from scipy.integrate import ode
import numpy as np
from matplotlib.pylab import *
def myodeint(func, w0, z):
w0 = np.array(w0, complex)
func2 = lambda z, w: func(w, z) # odeint has these the other way :/
z0 = z[0]
solver = ode(func2).set_integrator('zvode').set_initial_value(w0, z0)
w = [solver.integrate(zp) for zp in z[1:]]
w.insert(0, w0)
return np.array(w)
def func2(w, z, alpha):
return alpha*w
if __name__ == '__main__':
# Set grid size in z plane
x_max = 3
x_min = 0
y_max = 3
y_min = 0
# Set grid resolution
dx = 0.1
dy = 0.1
# Number of nodes
x_nodes = int(np.floor((x_max-x_min)/dx)+1)
y_nodes = int(np.floor((y_max-y_min)/dy)+1)
# Create array to store value of w(z) at each node
ww = np.zeros((y_nodes,x_nodes), complex)
# Set boundary condition: w = w0 at x = x0, y = y0
x0 = 0
y0 = 1
i0 = (x0-x_min)/dx
j0 = (y_max-y0)/dy
w0 = 1j
ww[j0,i0] = w0
z0 = 1j
alpha = 1
z = np.linspace(z0, z0+1j, 200)
w = myodeint(lambda w, z: func2(w, z, alpha), [w0, 0, 0], z)