# -*- coding: utf-8 -*- import numpy as np from math import sin, cos, sqrt from opt_params import par def uopt(zz): F_car = (-par.C_W*par.M_car*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*sin(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*cos(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - par.C_W*par.M_load*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - zz[5]*zz[6]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[5]*zz[8]*sin(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[7]*cos(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5])) F_load = (2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5])) return [F_car, F_load] def v_kuorma(zz): v_kuorma = (sqrt((zz[1]*zz[5]*sin(zz[4]) - zz[2]*cos(zz[4]))**2 + (zz[0] + zz[1]*zz[5]*cos(zz[4]) + zz[2]*sin(zz[4]))**2)) return v_kuorma # Muuttujien derivaatat def odefun(t,zz_N): (M, N) = zz_N.shape dzdt = np.zeros((M, N)) for i in range(N): zz = zz_N[:, i] [F_car, F_load] = uopt(zz) dzdt[:, i] = [ (-par.C_W*par.M_car*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*sin(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*cos(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - par.C_W*par.M_load*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - zz[5]*zz[6]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[5]*zz[8]*sin(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[7]*cos(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]))/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) + (2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*sin(zz[4])/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) - 2.0*par.cfr_car*zz[0]/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) - 2.0*par.cfr_kela*zz[2]*sin(zz[4])/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) + 2.0*par.cfr_load*zz[0]*sin(zz[4])**2/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) + 2.0*par.cfr_load*zz[0]*cos(zz[4])**2/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) - 2.0*par.cfr_load*zz[0]/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) + 2.0*par.cfr_load*zz[1]*zz[5]*sin(zz[4])**2*cos(zz[4])/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) + 2.0*par.cfr_load*zz[1]*zz[5]*cos(zz[4])**3/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) - 2.0*par.cfr_load*zz[1]*zz[5]*cos(zz[4])/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) + 2.0*par.cfr_load*zz[2]*sin(zz[4])**3/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) + 2.0*par.cfr_load*zz[2]*sin(zz[4])*cos(zz[4])**2/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load) - 2.0*par.cfr_load*zz[2]*sin(zz[4])/(par.M_car - par.M_load*sin(zz[4])**2 - par.M_load*cos(zz[4])**2 + par.M_load), -(-par.C_W*par.M_car*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*sin(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*cos(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - par.C_W*par.M_load*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - zz[5]*zz[6]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[5]*zz[8]*sin(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[7]*cos(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]))*par.M_load*cos(zz[4])/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - (2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.M_load*sin(zz[4])*cos(zz[4])/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - par.M_car*par.M_load*par.g*sin(zz[4])/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - 2.0*par.M_car*par.M_load*zz[1]*zz[2]/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - 2.0*par.M_car*par.cfr_load*zz[0]*cos(zz[4])/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - 2.0*par.M_car*par.cfr_load*zz[1]*zz[5]*sin(zz[4])**2/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - 2.0*par.M_car*par.cfr_load*zz[1]*zz[5]*cos(zz[4])**2/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) + par.M_load**2*par.g*sin(zz[4])**3/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) + par.M_load**2*par.g*sin(zz[4])*cos(zz[4])**2/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - par.M_load**2*par.g*sin(zz[4])/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) + 2.0*par.M_load**2*zz[1]*zz[2]*sin(zz[4])**2/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) + 2.0*par.M_load**2*zz[1]*zz[2]*cos(zz[4])**2/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - 2.0*par.M_load**2*zz[1]*zz[2]/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) + 2.0*par.M_load*par.cfr_car*zz[0]*cos(zz[4])/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) + 2.0*par.M_load*par.cfr_kela*zz[2]*sin(zz[4])*cos(zz[4])/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) + 2.0*par.M_load*par.cfr_load*zz[1]*zz[5]*sin(zz[4])**4/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) + 2.0*par.M_load*par.cfr_load*zz[1]*zz[5]*sin(zz[4])**2*cos(zz[4])**2/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - 2.0*par.M_load*par.cfr_load*zz[1]*zz[5]*sin(zz[4])**2/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - 2.0*par.M_load*par.cfr_load*zz[2]*sin(zz[4])**3*cos(zz[4])/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) - 2.0*par.M_load*par.cfr_load*zz[2]*sin(zz[4])*cos(zz[4])**3/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]) + 2.0*par.M_load*par.cfr_load*zz[2]*sin(zz[4])*cos(zz[4])/(par.M_car*par.M_load*zz[5] - par.M_load**2*zz[5]*sin(zz[4])**2 - par.M_load**2*zz[5]*cos(zz[4])**2 + par.M_load**2*zz[5]), -(-par.C_W*par.M_car*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*sin(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*cos(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - par.C_W*par.M_load*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - zz[5]*zz[6]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[5]*zz[8]*sin(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[7]*cos(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]))*par.M_load*sin(zz[4])/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - (2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.M_car/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + (2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.M_load*cos(zz[4])**2/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - (2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.M_load/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + par.M_car*par.M_load*par.g*cos(zz[4])/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + par.M_car*par.M_load*zz[1]**2*zz[5]/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + 2.0*par.M_car*par.cfr_kela*zz[2]/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - 2.0*par.M_car*par.cfr_load*zz[0]*sin(zz[4])/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - 2.0*par.M_car*par.cfr_load*zz[2]*sin(zz[4])**2/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - 2.0*par.M_car*par.cfr_load*zz[2]*cos(zz[4])**2/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - par.M_load**2*par.g*sin(zz[4])**2*cos(zz[4])/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - par.M_load**2*par.g*cos(zz[4])**3/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + par.M_load**2*par.g*cos(zz[4])/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - par.M_load**2*zz[1]**2*zz[5]*sin(zz[4])**2/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - par.M_load**2*zz[1]**2*zz[5]*cos(zz[4])**2/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + par.M_load**2*zz[1]**2*zz[5]/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + 2.0*par.M_load*par.cfr_car*zz[0]*sin(zz[4])/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - 2.0*par.M_load*par.cfr_kela*zz[2]*cos(zz[4])**2/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + 2.0*par.M_load*par.cfr_kela*zz[2]/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - 2.0*par.M_load*par.cfr_load*zz[1]*zz[5]*sin(zz[4])**3*cos(zz[4])/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - 2.0*par.M_load*par.cfr_load*zz[1]*zz[5]*sin(zz[4])*cos(zz[4])**3/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + 2.0*par.M_load*par.cfr_load*zz[1]*zz[5]*sin(zz[4])*cos(zz[4])/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + 2.0*par.M_load*par.cfr_load*zz[2]*sin(zz[4])**2*cos(zz[4])**2/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) + 2.0*par.M_load*par.cfr_load*zz[2]*cos(zz[4])**4/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2) - 2.0*par.M_load*par.cfr_load*zz[2]*cos(zz[4])**2/(par.M_car*par.M_load - par.M_load**2*sin(zz[4])**2 - par.M_load**2*cos(zz[4])**2 + par.M_load**2), zz[0], zz[1], zz[2], -(((-par.C_W*par.M_car*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*sin(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*cos(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - par.C_W*par.M_load*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - zz[5]*zz[6]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[5]*zz[8]*sin(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[7]*cos(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]))*par.C_W + zz[9])*par.M_car*par.M_load*zz[5] - 2.0*(par.M_car*par.cfr_load - par.M_load*par.cfr_car)*zz[5]*zz[8]*sin(zz[4]) - 2.0*(par.M_car*par.cfr_load - par.M_load*par.cfr_car)*zz[7]*cos(zz[4]) - 2.0*par.M_load*par.cfr_car*zz[5]*zz[6])/(par.M_car*par.M_load*zz[5]), -2.0*zz[1]*zz[5]*zz[8] + 2.0*zz[2]*zz[7]/zz[5] - 1.0*zz[10] + 2.0*par.cfr_load*zz[7]/par.M_load, (2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.C_W + 2.0*zz[1]*zz[7]/zz[5] - zz[11] - 2.0*par.cfr_kela*zz[8]/par.M_load + 2.0*par.cfr_load*zz[8]/par.M_load + 2.0*par.cfr_kela*zz[6]*sin(zz[4])/par.M_car - 2.0*par.cfr_kela*zz[8]*sin(zz[4])**2/par.M_car - 1.0*par.cfr_kela*zz[7]*sin(2*zz[4])/(par.M_car*zz[5]), 0, -(-(1.0*(-par.C_W*par.M_car*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*sin(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*cos(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - par.C_W*par.M_load*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - zz[5]*zz[6]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[5]*zz[8]*sin(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[7]*cos(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]))*par.M_load*cos(zz[4]) + 1.0*(2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.M_load*sin(2*zz[4]) + 1.0*par.M_car*par.M_load*par.g*sin(zz[4]) + 2.0*par.M_car*par.cfr_load*zz[0]*cos(zz[4]) - 2.0*par.M_load*par.cfr_car*zz[0]*cos(zz[4]) - 2.0*par.M_load*par.cfr_kela*zz[2]*sin(2*zz[4]))*zz[5]*zz[8] + (1.0*(-par.C_W*par.M_car*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*sin(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*cos(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - par.C_W*par.M_load*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - zz[5]*zz[6]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[5]*zz[8]*sin(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[7]*cos(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]))*par.M_load*sin(zz[4]) + 2.0*(2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.M_load*sin(zz[4])**2 - 1.0*(2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.M_load - 1.0*par.M_car*par.M_load*par.g*cos(zz[4]) + 2.0*par.M_car*par.cfr_load*zz[0]*sin(zz[4]) - 2.0*par.M_load*par.cfr_car*zz[0]*sin(zz[4]) - 4.0*par.M_load*par.cfr_kela*zz[2]*sin(zz[4])**2 + 2.0*par.M_load*par.cfr_kela*zz[2])*zz[7] + (-2.0*par.cfr_kela*zz[2] + 2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 1.0*par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 1.0*par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 1.0*par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 1.0*par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 1.0*par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 1.0*par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 1.0*par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 1.0*par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 1.0*par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.M_load*zz[5]*zz[6]*cos(zz[4]))/(par.M_car*par.M_load*zz[5]), -((1.0*(-par.C_W*par.M_car*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*sin(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + par.C_W*par.M_load*zz[0]*zz[5]*cos(zz[4])**2/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - par.C_W*par.M_load*zz[0]*zz[5]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) - zz[5]*zz[6]/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[5]*zz[8]*sin(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]) + zz[7]*cos(zz[4])/(2.0*par.C_F1*par.M_car*zz[5] - 2.0*par.C_F1*par.M_load*zz[5]*sin(zz[4])**2 - 2.0*par.C_F1*par.M_load*zz[5]*cos(zz[4])**2 + 2.0*par.C_F1*par.M_load*zz[5]))*par.M_load*cos(zz[4]) + 0.5*(2.0*par.C_F2*par.L_0*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_0*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_car*par.M_load**2*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.L_f*par.M_load**3*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_car*par.M_load**2*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + 2.0*par.C_F2*par.M_load**3*par.T_f*par.g*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_car*par.M_load*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*sin(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.C_W*par.M_load**2*par.T_f*zz[2]*zz[5]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_car*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[6]*sin(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) - par.M_load*par.T_f*zz[5]*zz[8]*cos(zz[4])**2/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[5]*zz[8]/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]) + par.M_load*par.T_f*zz[7]*sin(zz[4])*cos(zz[4])/(2.0*par.C_F2*par.M_car*par.M_load*par.T_f*zz[5] - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*sin(zz[4])**2 - 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]*cos(zz[4])**2 + 2.0*par.C_F2*par.M_load**2*par.T_f*zz[5]))*par.M_load*sin(2*zz[4]) + 1.0*par.M_car*par.M_load*par.g*sin(zz[4]) + 2.0*par.M_car*par.M_load*zz[1]*zz[2] + 2.0*par.M_car*par.cfr_load*zz[0]*cos(zz[4]) - 2.0*par.M_load*par.cfr_car*zz[0]*cos(zz[4]) - 1.0*par.M_load*par.cfr_kela*zz[2]*sin(2*zz[4]))*zz[7] + 1.0*par.M_car*par.M_load*zz[1]**2*zz[5]**2*zz[8])/(par.M_car*par.M_load*zz[5]**2)] return np.array(dzdt) # Reuna-arvot. Palauttaa poikkeaman halutusta. def bcfun(zz0,zz): yy_0 = [0.0,0.0,0.0,par.x0_car,0.0,par.L_0] yy_f = [0.0,0.0,0.0,par.xf_car,0.0,par.L_f] bc0 = [zz0[i]-yy_0[i] for i in range(0,2*par.sysdim)] bcf = [zz[i]-yy_f[i] for i in range(0,2*par.sysdim)] return(np.array(bc0 + bcf)) # Alkuarvaus ajan funktiona def init_guess(t): guess1 = [(-par.x0_car + par.xf_car)/par.T_f,0.0,(-par.L_0 + par.L_f)/par.T_f,t*(-par.x0_car + par.xf_car)/par.T_f + par.x0_car,0.0,t*(-par.L_0 + par.L_f)/par.T_f + par.L_0,1.0,-1.0,1.0,-1.0,-1.0,1.0] return guess1 def xy_load(zz): xy_load = [ zz[3] + zz[5]*sin(zz[4]), -zz[5]*cos(zz[4])] return xy_load