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pneu_trans_cyl.html
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<!DOCTYPE html>
<meta content="text/html;charset=utf-8" http-equiv="Content-Type">
<meta content="utf-8" http-equiv="encoding">
<link rel="stylesheet" href="include/style.css">
<script type="text/javascript" src="include/specs.js"></script>
<script type="text/javascript">
unit_sys = 0;
inputs_unit_map = {
'f_push': ['N', 'lbf'],
'f_pull': ['N', 'lbf'],
'v_endstop': ['mm/s', 'in/s'],
'E_endstop': ['J', 'ft-lbf'],
'air_cons': ['g', 'lbm'],
'mass': ['kg', 'lbm'],
'load': ['N', 'lbf'],
'stroke': ['mm', 'in'],
'd_rod': ['mm', 'in'],
'd_bore': ['mm', 'in'],
'l_line': ['m', 'ft'],
'd_line': ['mm', 'in'],
'T_src': ['C', 'C'],
'P_src': ['kPa', 'psi'],
'query_d': ['mm', 'in'],
'query_v': ['mm/s', 'in/s'],
'query_p': ['kPa', 'psi'],
'query_f': ['N', 'lbf']
}
function populate_units() {
if(document.getElementById('unit_metric').checked)
unit_sys = 0;
else
unit_sys = 1;
unit_labels = document.getElementsByClassName('unit');
for (unit in unit_labels) {
if (unit_labels[unit].id && inputs_unit_map[unit_labels[unit].id.substring(5)] ){
varname = unit_labels[unit].id.substring(5);
document.getElementById('unit_'+varname).innerHTML = '['+inputs_unit_map[varname][unit_sys]+']';
}
}
document.getElementById(chart_name+'_d_label').innerHTML = 'Position ['+inputs_unit_map['query_d'][unit_sys]+']';
document.getElementById(chart_name+'_p_label').innerHTML = 'Pressure ['+inputs_unit_map['query_p'][unit_sys]+']';
}
function switch_units() {
populate_units();
compute();
}
var poschart = null, poschart_options = null;
function populate_direction() {
document.getElementById('direction_push').disabled = direction_push;
document.getElementById('direction_pull').disabled = !direction_push;
}
direction_push = true;
function setDirection(push) {
direction_push = push;
populate_direction();
compute(true);
}
function get_motor_data(motor,key){
return motor_data[motor][key];
}
function gidv(id) {
v = eval(document.getElementById(id).value);
if (typeof inputs_unit_map[id] !== 'undefined')
v = convert(v, inputs_unit_map[id][unit_sys]);
return v;
}
function gids(id, value, places) {
if (typeof places === 'undefined')
places = 3;
if (typeof value === 'string') {
document.getElementById(id).value = value;
} else {
if (typeof inputs_unit_map[id] !== 'undefined')
value = convert_to(value, inputs_unit_map[id][unit_sys]);
document.getElementById(id).value = value.toFixed(places);
}
}
function thload() {
if(packed_inputs) unpack_inputs();
populate_units();
populate_direction();
var inputs, index;
inputs = document.getElementsByTagName('input');
for (index = 0; index < inputs.length; ++index) {
inputs[index].onkeyup = function(e) {
var key = e.keyCode ? e.keyCode : e.which;
if (key==13) {
compute(true);
} else {
compute(false);
}
}
}
compute(true);
}
function sign(x) {
if (x>0) return 1;
if (x<0) return -1;
return 0;
}
en_vm = true;
function compute(simulate) {
simulate = typeof simulate !== 'undefined' ? simulate : true;
document.getElementById('charts').classList.add('uncomputed');
document.getElementById('t_endstop').classList.add('uncomputed');
document.getElementById('t_steady').classList.add('uncomputed');
document.getElementById('v_endstop').classList.add('uncomputed');
document.getElementById('E_endstop').classList.add('uncomputed');
document.getElementById('air_cons').classList.add('uncomputed');
// Constants
dt = 0.0005; // s
P_atm = 101e3; // Pa
R = 287.05; // J/kg-K
c_p = 1010; // J/kg-K
c_v = c_p - R;
// Variables
T_in = gidv('T_src') + 273; // K
P_in = gidv('P_src')+P_atm; //Pa; 60psi (conversion between gague and abs pressure)
A_push = Math.pow(gidv('d_bore'),2)*Math.PI/4;
A_pull = A_push - Math.pow(gidv('d_rod'),2)*Math.PI/4
A = direction_push ? A_push : A_pull; // m^2
xf = gidv('stroke'); // m
d_line = gidv('d_line');
l_line = gidv('l_line');
V_extra = Math.PI/4*Math.pow(d_line,2)*l_line;
M = gidv('mass'); // kg
F_push = (P_in-P_atm)*A_push;
F_pull = (P_in-P_atm)*A_pull;
gids("f_push", F_push);
gids("f_pull", F_pull);
// State variables (autocomputed)
t = 0;
T_s = T_in;
x = 0;
v = 0;
m_s = P_atm*V_extra/R/T_s; // rho = 1.2 kg/m^3
if(!simulate) return;
i=0;
t_endstop = NaN;
v_endstop = NaN;
E_endstop = NaN;
t_ss = NaN;
air_cons = 0;
termcrit = document.getElementById('termcrit').value;
if (termcrit == '') termcrit = 0;
channels = [[0],[0],[0],[0],[0]];
while(i<3000) {
P_s = m_s/(x*A+V_extra)*R*T_s;
V_in = sign(P_in-P_s)*0.0197862*Math.pow(Math.pow(d_line,5)*(P_in-P_atm)*Math.abs(P_in-P_s)/l_line, 20/37); //magical equation
m_in = P_in/R/T_in*V_in;
F = convert(eval(document.getElementById('load').value), inputs_unit_map['load'][unit_sys]);
vmterm = en_vm ? Math.pow(V_in/(Math.PI/4 * d_line*d_line), 2) : 0;
dT_s = ( m_in * (-c_p*T_s + c_v*T_in + vmterm) - P_s*A*v)/c_p/m_s;
dm_s = m_in;
dx = v;
dv = ((P_s-P_atm)*A-F) / M;
t += dt;
x += dx*dt;
v += dv*dt;
air_cons += m_in*dt;
if (x <= 0) {x = 0; v = Math.max(v,0);}
if (x >= xf) {
if (isNaN(t_endstop)) {
t_endstop = t;
v_endstop = v;
E_endstop = M*v*v/2;
}
x = xf; v = 0;
}
T_s += dT_s*dt;
m_s += dm_s*dt;
if (x >= xf && P_s >= P_in*0.99) {
if (isNaN(t_endstop)) {
t_endstop = t;
v_endstop = v;
E_endstop = M*v*v/2;
}
t_ss = t;
break;
}
if (eval(termcrit)) break;
channels[0].push(t);
channels[1].push(x);
channels[2].push(P_s-P_atm);
channels[3].push(v);
channels[4].push((P_s-P_atm)*A);
i++;
}
drawchart(channels);
//xchart.draw(xdata, xchart_options);
document.getElementById('charts').classList.remove('uncomputed');
document.getElementById('t_endstop').classList.remove('uncomputed');
document.getElementById('t_steady').classList.remove('uncomputed');
document.getElementById('v_endstop').classList.remove('uncomputed');
document.getElementById('E_endstop').classList.remove('uncomputed');
document.getElementById('air_cons').classList.remove('uncomputed');
gids('t_endstop', NaNToerr(t_endstop));
gids('t_steady', NaNToerr(t_ss));
gids('v_endstop', NaNToerr(v_endstop));
gids('E_endstop', NaNToerr(E_endstop));
gids('air_cons', air_cons);
}
</script>
<script style="text/javascript" >
function makeTicks(maxes, num_to_print, n) {
if (Math.min(maxes) < 0) return [0];
H = [];
bases = [];
for(var i=0; i<maxes.length; i++){
h = maxes[i]/n;
base = Math.floor(Math.log10(h)-Math.log10(5));
bases.push(base);
H.push(Math.round(h/Math.pow(10, base))*Math.pow(10, base));
}
ticks = [];
ticksstr = [];
alive = true;
for(var i=0; alive; i++) {
alive = false;
labelstr = '';
for(var j=0; j<maxes.length; j++) {
if (j<num_to_print) {
if (ticks.length <= j+1)
ticks.push([]);
ticks[j].push(H[j]*i);
labelstr += (H[j]*i).toFixed(bases[j] > 0 ? 0:-bases[j]);
if (j != num_to_print-1)
labelstr += ' / ';
}
if (H[j]*(i) < maxes[j])
alive = true;
}
ticksstr.push(labelstr);
}
return [ticks, ticksstr];
}
function sign(x) {
if(x>0) return 1;
if(x<0) return -1;
return 0;
}
chart_name = 'chart';
function drawTicks(axis, ticklabels, ff, f0, gf, g0, marg) {
altaxis = axis == 'x' ? 'y':'x';
realaxis = axis == 'z' ? 'y':axis;
xgrid = document.getElementById(chart_name+'_'+axis+'_grid');
while(xgrid.firstChild) xgrid.removeChild(xgrid.firstChild);
labels = document.getElementById(chart_name+'_'+axis+'_axis_labels');
while(labels.firstChild) labels.removeChild(labels.firstChild);
gfl = (axis=='z'?gf:g0) + (axis=='y'?-1:1)*marg;
for (i in ticklabels) {
line = document.createElementNS('http://www.w3.org/2000/svg','line');
line.setAttribute(altaxis+'1', gf); line.setAttribute(altaxis+'2', g0);
fp = f0 + (ff-f0)*(i/(ticklabels.length-1));
line.setAttribute(realaxis+'1', fp);
line.setAttribute(realaxis+'2', fp);
line.setAttribute('class', 'grid');
xgrid.append(line);
label = document.createElementNS('http://www.w3.org/2000/svg','text');
label.setAttribute(altaxis, gfl);
label.setAttribute(realaxis, fp);
label.innerHTML = i==0 ? '0' : ticklabels[i];
labels.append(label);
}
}
function linterp(xs, ys, xq) {
i;
for (i=1; i<xs.length-1 && !isNaN(xs[i]) && xq>xs[i]; i++) {}
return ys[i-1] + (ys[i]-ys[i-1])/(xs[i]-xs[i-1])*(xq-xs[i-1]);
}
function drawchart() {
[t, d, p, v, f] = channels;
dc = convert_to(d, inputs_unit_map['query_d'][unit_sys]);
pc = convert_to(p, inputs_unit_map['query_p'][unit_sys]);
svg = document.getElementById('chart');
x_axis = document.getElementById('chart_x_axis');
y_axis = document.getElementById('chart_y_axis');
x0 = Math.min(y_axis.x1.baseVal.value, y_axis.x2.baseVal.value);
xf = Math.max(y_axis.x1.baseVal.value, y_axis.x2.baseVal.value);
y0 = Math.max(x_axis.y1.baseVal.value, x_axis.y2.baseVal.value);
yf = Math.min(x_axis.y1.baseVal.value, x_axis.y2.baseVal.value);
d_line = document.getElementById('chart_d_line');
p_line = document.getElementById('chart_p_line');
d_line.setAttribute("points","");
p_line.setAttribute("points","");
[[t_ticks], xticklabels] = makeTicks([Math.max(...t)], 1, 9);
[[d_ticks], yticklabels] = makeTicks([Math.max(...dc), Math.max(...pc)], 1, 6);
[[p_ticks], zticklabels] = makeTicks([Math.max(...pc), Math.max(...dc)], 1, 6);
t_max = t_ticks[t_ticks.length-1];
d_max = d_ticks[d_ticks.length-1];
p_max = p_ticks[p_ticks.length-1];
drawTicks('x', xticklabels, xf, x0, yf, y0, 15);
drawTicks('y', yticklabels, yf, y0, xf, x0, 5);
drawTicks('z', zticklabels, yf, y0, xf, x0, 5);
for (i in t) {
var ptd = svg.createSVGPoint();
var ptp = svg.createSVGPoint();
xq = x0 + (xf-x0)/(t_max-0)*t[i];
ptd.x = ptp.x = xq;
ptd.y = y0 + (yf-y0)/(d_max-0)*dc[i];
ptp.y = y0 + (yf-y0)/(p_max-0)*pc[i];
d_line.points.appendItem(ptd);
p_line.points.appendItem(ptp);
}
bg=document.getElementById('chart');
qline = document.getElementById('chart_query_line');
qline.setAttribute('opacity', 0);
gids('query_t', '-');
gids('query_d', '-');
gids('query_v', '-');
gids('query_p', '-');
gids('query_f', '-');
handler = function(event){
if(event.buttons != 1) return;
xq = event.clientX - bg.getBoundingClientRect().left;
yq = event.clientY - bg.getBoundingClientRect().top;
tq = (t_max-0)/(xf-x0)*(xq-x0);
if (tq>Math.max(...t)){
tq = Math.max(...t);
xq = x0 + (xf-x0)/(t_max-0)*tq;
}
if (tq<0) {
tq=0; xq=x0;
}
dq = linterp(t, d, tq);
vq = linterp(t, v, tq);
pq = linterp(t, p, tq);
fq = linterp(t, f, tq);
qline.setAttribute('opacity', 1);
qline.setAttribute('x1', xq);
qline.setAttribute('x2', xq);
gids('query_t', tq);
gids('query_d', dq);
gids('query_v', vq);
gids('query_p', pq);
gids('query_f', fq);
}
bg.addEventListener('mousemove', handler);
bg.addEventListener('mousedown', handler);
}
</script>
<script id="packed_inputs_dump">
packed_inputs = null; // set to an object/dict (id => value) with some specials
// unit_sys
</script>
<script>
function pack_inputs() {
packed_inputs = {};
packed_inputs.direction_push = direction_push;
for (input of document.getElementsByTagName('input')) {
if (input.type == "text") {
packed_inputs[input.id] = input.value;
}
if (input.type == "checkbox" || input.type == "radio") {
packed_inputs[input.id] = input.checked;
}
}
for (input of document.getElementsByTagName('select')) {
packed_inputs[input.id] = input.value;
}
document.getElementById("packed_inputs_dump").innerHTML = "packed_inputs="+JSON.stringify(packed_inputs)+";";
}
function unpack_inputs() {
direction_push = packed_inputs.direction_push;
delete packed_inputs.direction_push;
populate_direction();
for (key in packed_inputs) {
if (typeof packed_inputs[key] == "boolean")
document.getElementById(key).checked = packed_inputs[key];
else
document.getElementById(key).value = packed_inputs[key];
}
loads = document.getElementsByClassName('load');
for (load of loads) {
load.identifier = load.firstChild.getAttribute('identifier');
}
}
function readTextFile(file)
{
var allText = null;
var rawFile = new XMLHttpRequest();
rawFile.open("GET", file, false);
rawFile.onreadystatechange = function ()
{
if(rawFile.readyState === 4)
{
if(rawFile.status === 200 || rawFile.status == 0)
{
allText = rawFile.responseText;
}
}
}
rawFile.send(null);
return allText;
}
if (!String.prototype.decodeHTML) {
String.prototype.decodeHTML = function () {
return this.replace(/'/g, "'")
.replace(/"/g, '"')
.replace(/>/g, '>')
.replace(/</g, '<')
.replace(/&/g, '&')
.replace(/â–¼/g, '▲');
};
}
months=['JAN','FEB','MAR','APR','MAY','JUN','JUL','AUG','SEP','OCT','NOV','DEC'];
function download_page() {
today = new Date();
var fileName = 'pneucyl_' + today.getFullYear()+months[today.getMonth()]+today.getDate();
fileName = prompt("Enter a filename. (.html will be appended)", fileName)
if (!fileName) return;
document.getElementById('topbar_fname').innerHTML = fileName;
fileName += '.html';
head = document.head || document.getElementsByTagName('head')[0];
pack_inputs();
scripts = document.getElementsByTagName('script');
for (script of scripts) {
if (script.src) {
scr = readTextFile(script.src);
script.innerHTML = scr;
script.removeAttribute('src');
}
}
links = document.getElementsByTagName('link');
for (link of links) {
if (link.href) {
scr = readTextFile(link.href);
style = document.createElement('style');
style.type='text/css';
if(style.styleSheet) {
style.styleSheet.cssText = scr;
} else {
style.appendChild(document.createTextNode(scr));
}
head.prepend(style);
link.parentElement.removeChild(link);
}
}
var fileContent = new XMLSerializer().serializeToString(document).decodeHTML();
var myFile = new Blob([fileContent], {type: 'text/html'});
window.URL = window.URL || window.webkitURL;
dlurl = window.URL.createObjectURL(myFile);
document.getElementById('download_iframe').download = fileName;
document.getElementById('download_iframe').href = dlurl;
document.getElementById('download_iframe').click();
}
function print_page() {
window.print();
}
</script>
<html>
<body onload="thload()">
<div id="topbar">
<div class="topbar_la selectable" onclick="window.location='./'">EveryCalc</div>
<div class="topbar_la" id='topbar_version'></div>
<div class="topbar_la" id='topbar_fname'></div>
<div class="topbar_ctr">Pneumatic Cylinder Calculator</div>
<div class="topbar_ra selectable" onclick="download_page();" id="download">Export HTML</div>
<div class="topbar_ra selectable" onclick="print_page();">Print</div>
<a id="download_iframe" hidden></a>
</div>
<div style="width: 310px; float: left;" class="container">
<div class="even">
<center>
<input type="radio" id="unit_english" name="unit" value="english" onclick="switch_units()">
<label for="english">English</label>
<input type="radio" id="unit_metric" name="unit" value="metric" onclick="switch_units()" checked>
<label for="metric">Metric</label>
</center>
</div>
<div class="odd">
<table>
<tr>
<th class='rowlabel'>Tank Pressure</th>
<td><input id='P_src' value=400></td>
<td class='unit' id='unit_P_src'></td>
</tr><tr>
<th class="rowlabel">Tank Temperature</th>
<td><input id="T_src" value=20></td>
<td class="unit" id='unit_T_src'></td>
</tr><tr>
<th class='rowlabel'>Line Diameter</th>
<td><input id='d_line' value=5></td>
<td class="unit" id='unit_d_line'></td>
</tr><tr>
<th class="rowlabel">Line Length</th>
<td><input id="l_line" value=1.5></td>
<td class="unit" id='unit_l_line'></td>
</tr><tr>
<th class="rowlabel">Bore Diameter</th>
<td><input id="d_bore" value=20></td>
<td class="unit" id='unit_d_bore'></td>
</tr><tr>
<th class="rowlabel">Rod Diameter</th>
<td><input id="d_rod" value=6></td>
<td class="unit" id='unit_d_rod'></td>
</tr><tr>
<th class="rowlabel">Direction</th>
<td colspan=2><button id="direction_push" onclick="setDirection(true)" readonly >PUSH</button>
<button id="direction_pull" onclick="setDirection(false)" >PULL</button></td>
</tr><tr>
<th class="rowlabel">Stroke</th>
<td><input id="stroke" value=100></td>
<td class="unit" id='unit_stroke'></td>
</tr><tr>
<th class="rowlabel">Load</th>
<td><input id="load" value=50></td>
<td class="unit" id='unit_load'></td>
</tr><tr>
<th class="rowlabel">Mass</th>
<td><input id="mass" value=0.7></td>
<td class="unit" id='unit_mass'></td>
</tr><tr>
<th class="rowlabel">Alt. Termination Crit</th>
<td><input id="termcrit" value=''></td>
</tr>
</table>
<center><button type="button" onclick="compute()">Compute!</button></center>
</div><div class="output">
<table>
<tr>
<th class='rowlabel'>Force (Push)<span class="ttt">Push force of the cylinder at steady-state (not considering any external load)</span></th>
<td><input id='f_push' readonly /></td>
<td class='unit' id='unit_f_push'></td>
</tr><tr>
<th class='rowlabel'>Force (Pull)<span class="ttt">Pull force of the cylinder at steady-state (not considering any external load)</span></th>
<td><input id='f_pull' readonly /></td>
<td class='unit' id='unit_f_pull'></td>
</tr><tr>
<th class='rowlabel'>Time to Endstop</th>
<td><input id='t_endstop' readonly /></td>
<td class='unit'>[s]</td>
</tr><tr>
<th class='rowlabel'>Time to Steady-State</th>
<td><input id='t_steady' readonly /></td>
<td class='unit'>[s]</td>
</tr><tr>
<th class='rowlabel'>Velocity @ Endstop</th>
<td><input id='v_endstop' readonly /></td>
<td class='unit' id='unit_v_endstop'></td>
</tr><tr>
<th class='rowlabel'>Kinetic En. @ Endstop</th>
<td><input id='E_endstop' readonly /></td>
<td class='unit' id='unit_E_endstop'></td>
</tr><tr>
<th class='rowlabel'>Air Consumption</th>
<td><input id='air_cons' readonly /></td>
<td class='unit' id='unit_air_cons'></td>
</tr>
</table>
</div>
</div>
<div style="margin-left: 0px;" class="container" id="charts">
<svg version="1.2" class="graph" id='chart' aria-labelledby="title" role="img">
<title id="title">Position/Velocity Data</title>
<rect class="background" id="chart_background" x=90 y=20 width=615 height=430 />
<g class="x-grid">
<line id="chart_x_axis" class="axes" x1="90" x2="90" y1="20" y2="450"></line>
</g>
<g class="y-grid">
<line id="chart_y_axis" class="axes" x1="90" x2="705" y1=450 y2=450></line>
<line id="chart_z_axis" class="axes" x1="705" x2="705" y1="20" y2=450></line>
</g>
<g class="x-grid" id="chart_x_grid"></g>
<g class="y-grid" id="chart_y_grid"></g>
<g class="z-grid" id="chart_z_grid"></g>
<g class="labels x-labels" id='chart_x_labels'>
<text x="375" y=485 class="label-title">Time [s]</text>
</g>
<g class="labels y-labels" id='chart_y_labels'>
<text x=-240 y=15 class="label-title" transform="rotate(270)" id="chart_d_label" fill="#0074d9">Position</text>
</g>
<g class="labels z-labels" id='chart_z_labels'>
<text x=-240 y=800 class="label-title" transform="rotate(270)" id="chart_p_label" fill="#d91200">Pressure</text>
</g>
<g class="labels x-labels" id='chart_x_axis_labels'></g>
<g class="labels z-labels" id='chart_z_axis_labels'></g>
<g class="labels y-labels" id='chart_y_axis_labels'></g>
<g class="query-line">
<line id="chart_query_line" x1=100 x2=100 y1=15 y2=455></line>
</g>
<polyline
id='chart_d_line'
fill='none'
stroke='#0074d9'
stroke-width=2
points="
"/>
<polyline
id='chart_p_line'
fill='none'
stroke='#d91200'
stroke-width=2
points="
"/>
</svg>
<div class="output-graph">
<table>
<tr>
<th class="rowlabel">Queried Time</th>
<td><input id="query_t" readonly /></td>
<td class="unit">[s]</td>
</tr><tr>
<th class="rowlabel">Position</th>
<td><input id="query_d" readonly /></td>
<td class="unit" id="unit_query_d"></td>
</tr><tr>
<th class="rowlabel">Velocity</th>
<td><input id="query_v" readonly /></td>
<td class="unit" id="unit_query_v"></td>
</tr><tr>
<th class="rowlabel">Pressure</th>
<td><input id="query_p" readonly /></td>
<td class="unit" id="unit_query_p"></td>
</tr><tr>
<th class="rowlabel">Force</th>
<td><input id="query_f" readonly /></td>
<td class="unit" id="unit_query_f"></td>
</tr>
</table>
</div>
</div>
</body>
</html>