Linearizing PyChrono Model

[Federico Cancian]

Hi everyone,

I’m currently using Project Chrono (via PyChrono) for a research project focused on frequency analysis of flexible structures.

I’ve built a crank-slider toy model that includes a flexible rod, modeled using both ChBodyEasyBox rigid bodies and ANCF beam elements (ChMaterialBeamANCF). I would like to obtain a linearized state-space model around a specific angular configuration of the mechanism.

More specifically:

• Is it possible in PyChrono to extract the linearized system matrices [A,B,C,D] around a given operating point?
• Does Chrono provide built-in functionality for system linearization of flexible multibody systems (especially with ANCF elements)?
• Alternatively, is there a way to export the model to MATLAB in order to perform the frequency analysis there?

Any guidance, documentation references or examples would be greatly appreciated.

Thank you.