https:\/\/matplotlib.org\/gallery\/animation\/double_pendulum_sgskip.html#sphx-glr-gallery-animation-double-pendulum-sgskip-py<\/a><\/p>\n\n\n\n\u30bd\u30fc\u30b9\u306e\u5168\u6587\u304c\u4ee5\u4e0b\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
from numpy import sin, cos\nimport numpy as np\nimport matplotlib.pyplot as plt\nimport SciPy.integrate as integrate\nimport matplotlib.animation as animation\n\nG = 9.8 # acceleration due to gravity, in m\/s^2\nL1 = 1.0 # length of pendulum 1 in m\nL2 = 1.0 # length of pendulum 2 in m\nM1 = 1.0 # mass of pendulum 1 in kg\nM2 = 1.0 # mass of pendulum 2 in kg\n\n\ndef derivs(state, t):\n\n dydx = np.zeros_like(state)\n dydx[0] = state[1]\n\n del_ = state[2] - state[0]\n den1 = (M1 + M2)*L1 - M2*L1*cos(del_)*cos(del_)\n dydx[1] = (M2*L1*state[1]*state[1]*sin(del_)*cos(del_) +\n M2*G*sin(state[2])*cos(del_) +\n M2*L2*state[3]*state[3]*sin(del_) -\n (M1 + M2)*G*sin(state[0]))\/den1\n\n dydx[2] = state[3]\n\n den2 = (L2\/L1)*den1\n dydx[3] = (-M2*L2*state[3]*state[3]*sin(del_)*cos(del_) +\n (M1 + M2)*G*sin(state[0])*cos(del_) -\n (M1 + M2)*L1*state[1]*state[1]*sin(del_) -\n (M1 + M2)*G*sin(state[2]))\/den2\n\n return dydx\n\n# create a time array from 0..100 sampled at 0.05 second steps\ndt = 0.05\nt = np.arange(0.0, 20, dt)\n\n# th1 and t<\/pre>\n\n\n\nare the initial angles (degrees)<\/h2>\n\n\n\n
# w10 and w20 are the initial angular velocities (degrees per second) th1 = 120.0 w1 = 0.0 t<\/p>\n\n\n\n
= -10.0<\/h2>\n\n\n\n
w2 = 0.0 # initial state state = np.radians([th1, w1, th2, w2]) # integrate your ODE using SciPy.integrate. y = integrate.odeint(derivs, state, t) x1 = L1*sin(y[:, 0]) # \u30ea\u30b9\u30c8\u306e0\u756a\u76ee\u3001\u03b8\uff11\u3092\u53d6\u308a\u51fa\u3057\u3066\u3044\u307e\u3059\u3002 y1 = -L1*cos(y[:, 0]) x2 = L2*sin(y[:, 2]) + x1# \u30ea\u30b9\u30c8\u306e2\u756a\u76ee\u3001\u03b82\u3092\u53d6\u308a\u51fa\u3057\u3066\u3044\u307e\u3059\u3002 y2 = -L2*cos(y[:, 2]) + y1 fig = plt.figure() ax = fig.add_subplot(111, autoscale_on=False, xlim=(-2, 2), ylim=(-2, 2)) ax.set_aspect(‘equal’) ax.grid() line, = ax.plot([], [], ‘o-‘, lw=2) # \u30bf\u30a4\u30de\u30fc\u3092\u8868\u793a\u3059\u308b\u305f\u3081\u306b\u8ffd\u52a0\u3055\u308c\u307e\u3057\u305f time_template = ‘time = %.1fs’ time_text = ax.text(0.05, 0.9, ”, transform=ax.transAxes) def init(): line.set_data([], []) #\u3000\u3053\u308c\u3082\u30bf\u30a4\u30de\u30fc\u7528\u306e\u521d\u671f\u5316 time_text.set_text(”) return line, time_text def animate(i): thisx = [0, x1[i], x2[i]] thisy = [0, y1[i], y2[i]] line.set_data(thisx, thisy) # \u30bf\u30a4\u30de\u30fc\u66f4\u65b0\u7528 time_text.set_text(time_template % (i*dt)) return line, time_text ani = animation.FuncAnimation(fig, animate, np.arange(1, len(y)), interval=25, blit=True, init_func=init) plt.show()<\/p>\n\n\n\n
\u306a\u304b\u306a\u304b\u306e\u5206\u91cf\u306a\u306e\u3067\u3001\u5c3b\u8fbc\u307f\u3057\u3066\u3057\u307e\u3046\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u304c\u3001\u5b89\u5fc3\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n
\u3084\u3063\u3066\u3044\u308b\u3053\u3068\u306f2\u7ae0\u306e\u5358\u632f\u308a\u5b50\u3068\u307b\u3068\u3093\u3069\u540c\u3058\u3067\u3059\u3002<\/p>\n\n\n\n
\u30a4\u30f3\u30dd\u30fc\u30c8\u3057\u3066\u3044\u308b\u30d1\u30c3\u30b1\u30fc\u30b8\u306f\u307e\u3063\u305f\u304f\u4e00\u7dd2\u3002<\/p>\n\n\n\n
\u95a2\u6570\u5b9a\u7fa9\u306f\u4e8c\u91cd\u632f\u308a\u5b50\u306e\u305f\u3081\u3001\u8907\u96d1\u306b\u306f\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n
\u3067\u3059\u304c\u3001\u5fae\u5206\u65b9\u7a0b\u5f0f\u3092\u89e3\u304f\u306e\u306f\u76f8\u5909\u308f\u3089\u305aodeint\u3067\u3059\u3057\u3001\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3\u306f\u6642\u9593\u8868\u793a\u6a5f\u80fd\u304c\u3064\u3044\u305f\u3060\u3051\u3067\u3059\u3002<\/p>\n\n\n\n
\u305c\u3072\u5b9f\u969b\u306b\u52d5\u304b\u3057\u3066\u307f\u3066\u3001\u81ea\u5206\u306e\u624b\u3067\u30ab\u30aa\u30b9\u3092\u4f53\u611f\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n
\u60f3\u50cf\u4ee5\u4e0a\u306b\u5909\u306a\u52d5\u304d\u306b\u306a\u308b\u3053\u3068\u3046\u3051\u3042\u3044\u3067\u3059\u3002<\/p>\n\n\n\n
\u5fae\u5206\u65b9\u7a0b\u5f0f\u3092SciPy\u3067\u89e3\u304f\u30fb\u307e\u3068\u3081<\/h2>\n\n\n\n
\u3044\u304b\u304c\u3067\u3057\u305f\u304b\uff1f<\/p>\n\n\n\n
\u4eca\u56de\u306fSciPy\u3092\u3064\u304b\u3063\u305f\u5fae\u5206\u65b9\u7a0b\u5f0f\u306e\u6570\u5024\u89e3\u6cd5\u3092\u5b66\u3073\u307e\u3057\u305f\u3002<\/p>\n\n\n\n
\u4e00\u6614\u524d\u306f\u7814\u7a76\u5ba4\u306e\u5927\u578b\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u3067\u3082\u306a\u3044\u3068\u3067\u304d\u306a\u304b\u3063\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u3001\u4eca\u3067\u306f\u3082\u306e\u306e\u6570\u79d2\u3067\u30d1\u30bd\u30b3\u30f3\u3067\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n
\u3059\u3054\u3044\u6642\u4ee3\u306b\u306a\u3063\u305f\u3082\u306e\u3067\u3059\u3002<\/p>\n\n\n\n
\u307f\u306a\u3055\u3093\u3082\u305c\u3072\u3044\u308d\u3044\u308d\u306a\u5fae\u5206\u65b9\u7a0b\u5f0f\u3092\u6570\u5024\u89e3\u6790\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n
\u305d\u3053\u304b\u3089\u307e\u305f\u65b0\u3057\u3044\u767a\u898b\u304c\u751f\u307e\u308c\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002<\/p>\n\n\n\n
\u3082\u3057\u3001\u6570\u5024\u89e3\u6cd5\u306e\u624b\u9806\u3092\u5fd8\u308c\u3066\u3057\u307e\u3063\u305f\u3089\u3001\u307e\u305f\u3053\u306e\u8a18\u4e8b\u3092\u898b\u306b\u6765\u3066\u304f\u3060\u3055\u3044\u306d\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
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