def fitness(MSDnum, MSDden, pop, times):
"""Calculates the fitness values of each member in pop[population]
Also sets the simulation time in timesteps."""
fit_val = []
for s in range(len(pop)):
#Create transfer functions for use by inputting current pop
GAnum = [pop[s][0], pop[s][1], pop[s][2]] # kd, kp, ki
GAden = [0, 1, 0]
GHs_num = signal.convolve(GAnum, MSDnum)
GHs_den = signal.convolve(GAden, MSDden)
#Create CLTF
cltf_num = GHs_num
cltf_den = GHs_den + GHs_num
cltf = signal.TransferFunction(cltf_num, cltf_den)
#create transfer function with no poles or zeros
unityF = signal.TransferFunction([1], [1])
# Step functions
t1, y1 = signal.step(unityF, T=times) #signal.step(errorsig)
t2, y2 = signal.step(cltf, T=times)
# This is a subtraction from the step function creating an
# addition to the error value.
err_vall = 0.0
err_val = 0.0
for o in range(len(times)):
# repeats every s repetition
err_vall = err_vall + abs(y1[o] - abs(y2[o]))
err_val = err_vall * err_vall
fit_val.insert(s, err_val)
return fit_val
def f(x):
controler = clt.TransferFunction([x[2], x[0], x[1]],[1,0])
sys = clt.feedback(controler*H) #fechando a malha
#Aplica degrau
sys2 = sys.returnScipySignalLTI()[0][0]
t2,y2 = step(sys2,N = dots)
return abs(1-y2[-1]) #retorna o erro
def plot_transfer_function(self, time_array_line_space, enable_ploting=False):
time_array, output_array = signal.step(self.transfer_function_generator(), T=time_array_line_space)
if enable_ploting:
plt.figure(1)
plt.plot(time_array, output_array, 'b--', linewidth=1, label='Transfer Fcn')
# plt.show()
return pd.Series(output_array, index=time_array, name='Predicted Model Response')
def work(self, input_items, output_items):
in0 = input_items[:1]
out0 = output_items[:1]
# <+signal processing here+>
#from multiorder_tf_sci import csim
#out[:self.n] = csim(self.param0,self.param1,self.param2,self.param3,self.param4,self.param5,self.param6,self.param7,self.param8,self.param9,self.param10,in0[:self.n].tolist())
#print "OUT", out[:self.n]
#self.consume(0,self.n)
#self.produce(0,self.n)
num = [self.param3]
den = [self.param7,self.param8,self.param9]
tf = lti(num, den)
# get t = time, s = unit-step response
#t, s = step(tf)
out0[0:] = step(tf)
self.consume(0,1);
self.produce(0,1)
def __init__(self):
self.root = Tk()
self.root.title("Tc Example")
#------------------------------------------------------------------------
toolbar = Frame(self.root)
buttonPhase = Button(toolbar,text="Bode Phase",command=self.plotPhase)
buttonPhase.pack(side=LEFT,padx=2,pady=2)
buttonMag = Button(toolbar,text="Bode Mag",command=self.plotMag)
buttonMag.pack(side=LEFT,padx=2,pady=2)
buttonStep = Button(toolbar,text="Step",command=self.plotStep)
buttonStep.pack(side=LEFT,padx=2,pady=2)
buttonImp = Button(toolbar,text="Impulse",command=self.plotImp)
buttonImp.pack(side=LEFT,padx=2,pady=4)
toolbar.pack(side=TOP,fill=X)
graph = Canvas(self.root)
graph.pack(side=TOP,fill=BOTH,expand=True,padx=2,pady=4)
#-------------------------------------------------------------------------------
f = Figure()
self.axis = f.add_subplot(111)
self.sys = signal.TransferFunction([1],[1,1])
self.w,self.mag,self.phase = signal.bode(self.sys)
self.stepT,self.stepMag = signal.step(self.sys)
self.impT,self.impMag = signal.impulse(self.sys)
self.dataPlot = FigureCanvasTkAgg(f, master=graph)
self.dataPlot.draw()
self.dataPlot.get_tk_widget().pack(side=TOP, fill=BOTH, expand=True)
nav = NavigationToolbar2Tk(self.dataPlot, self.root)
nav.update()
self.dataPlot._tkcanvas.pack(side=TOP, fill=X, expand=True)
self.plotMag()
#-------------------------------------------------------------------------------
self.root.mainloop()
def plot_step_response_to_axes(self, axes):
legend = 'Step Response'
n_points = 1000
t, y = signal.step((self.num, self.den), N=n_points)
axes.plot(t, y, label=legend)
axes.set_xlabel(r'Time(seg)')
axes.set_ylabel(r'V[Volts]')
def plot_step(system, n=1000):
t, y= signal.step(system, N=n)
fig = go.Figure()
fig.add_trace(go.Scatter(x=t, y=y))
fig.update_xaxes(title="Time (s)")
fig.update_layout(title="Step response")
fig.show()
def compute(num, den):
"""Return filename of plot of the damped_vibration function."""
print(os.getcwd())
num = list(map(int, num.split()))
den = list(map(int, den.split()))
sys = signal.TransferFunction(num, den)
tf = control.tf(num, den)
t1, y1 = signal.step(sys)
t2, y2 = signal.impulse(sys)
s = str(tf)
s = s.split('\n')
s1 = '(' + s[1].strip() + ')'
s2 = '(' + s[3].strip() + ')'
plt.title('Time Response of H(s)=' + s1 + '/' + s2)
plt.plot(t1, y1, 'b--', linewidth=3, label='Step Response')
plt.plot(t2, y2, 'r', linewidth=3, label='Impulse Response')
plt.xlabel('Time')
plt.ylabel('Response (y)')
plt.legend(loc='best')
if not os.path.isdir('static'):
os.mkdir('static')
else:
# Remove old plot files
for filename in glob.glob(
os.path.join('static', 'Time_Response', 'Plot1.png')):
os.remove(filename)
plotfile = os.path.join('static', 'Time_Response', 'Plot1' + '.png')
plt.savefig(plotfile)
plt.clf()
plt.cla()
plt.close()
return plotfile
def plot(self):
G = signal.TransferFunction(3, (2,1))
T, yout = signal.step(G)
plt.figure(1)
plt.plot(T,yout)
plt.title('Step Response')
plt.grid()
plt.show()
def reponse_capteur(entree):
K = 250
m = 0.35
wn = 2000
tf = signal.lti([entree * K], [(1 / (wn**2)), 2 * m / wn, 1])
t, y = signal.step(tf)
return t, y
def reponse_capteur(entree):
K=250
m=0.35
wn=2000
tf=signal.lti([entree*K],[(1/(wn**2)),2*m/wn,1])
t,y=signal.step(tf)
return t,y
def main():
X = ModalAnalysis(0.999, 100)
system = ([2.0], [1.0, 2.0, 1.0])
#system = ([2.0,1.0],[1.0,2.0,1.0])
## impulse response test
#t,h = impulse(system)
#ls_result=X.fit_impulseresponse(h,t)
#system_est = (ls_result['num'],ls_result['den'])
#t1,h1 = impulse(system_est)
#plt.plot(t,h,'rs',t1,h1,'bx')
#plt.show()
## step response test
t, h = step(system)
ls_result = X.fit_stepresponse(h, t)
system_est = (ls_result['num'], ls_result['den'])
t1, h1 = step(system_est)
plt.plot(t, h, 'rs', t1, h1, 'bx')
plt.show()
def calc_tset(gain, tot_err, k, tvec):
w0 = 2 * np.pi * 1e6
w1 = w0 / gain
w2 = w0 * k
num = [gain]
den = [1/(w1*w2), 1/w1 + 1/w2, gain + 1]
_, yvec = sig.step((num, den), T=tvec)
return get_tset(tvec, yvec, tot_err)
def plot_w1w2(Ra,La,Kg,K1,Km,N1,N2,J2,c,br,grid):
# Pembuatan model transfer function
A= [[(-Ra/La),(-Kg/La)],[Km/((N2/N1)**2 * J2),(-c+br)]]
B= [[(K1/La)],[0]]
C= [[0,1],[0,(N2/N1)]]
D= [[0],[0]]
sys1=signal.StateSpace(A,B,C,D)
t1,y1=signal.step(sys1)
plt.title("Plot $\\omega_1$ dan $\\omega_2$")
plt.plot(t1,y1)
def set_band_pass(self):
self.num = [1, 0]
self.den = [1, 1, 1]
self.sys = signal.TransferFunction([1, 0], [1, 1, 1])
self.w, self.mag, self.phase = signal.bode(self.sys)
self.stepT, self.stepMag = signal.step(self.sys)
self.impT, self.impMag = signal.impulse(self.sys)
self.pzg = signal.tf2zpk(self.sys.num, self.sys.den)
self.GDfreq, self.gd = signal.group_delay((self.num, self.den))
self.plotMag()
def continous_time_step_response(A, B, C, D, plot=True):
ss = sig.StateSpace(A, B, C, D)
t, ys = sig.step(system=ss)
if plot:
for i in range(ys.shape[1]):
plt.plot(t, ys[:, i])
plt.title("Response Y" + str(i))
plt.show()
return (t, ys)
def DrawDiag_GtkAgg(X,
Y,
FigureNum=None,
NumSubplot=None,
FigTitle='No title',
FigSuptitle='No suptitle',
Xlabel=None,
Ylabel=None,
type='normal',
geometry=(8, 5),
render=False):
figure(figsize=geometry, facecolor='w', edgecolor='w')
clf()
suptitle(FigTitle, fontsize=12)
suptitle('\n\n' + FigSuptitle + '\n', fontsize=9)
subplots_adjust(left=.16, bottom=.11, right=.96, top=.9, hspace=.2)
for numSub in range(NumSubplot):
subplot(NumSubplot, 1, numSub + 1)
if len(Xlabel) == NumSubplot and len(Ylabel) == NumSubplot:
xlabel(Xlabel[numSub], fontsize=11) #, style='italic')
ylabel(Ylabel[numSub])
else:
print 'Error: not enough labels for subplots'
if type == 'normal':
grid()
plot(X[numSub], Y[numSub])
elif type == 'semilogx':
grid(which='major')
grid(which='minor')
semilogx(X[numSub], Y[numSub])
elif type == 'step':
grid()
plot(step(Y[numSub])[0], step(Y[numSub])[1])
elif type == 'impulse':
grid()
plot(impulse(Y[numSub])[0], impulse(Y[numSub])[1])
else:
print 'Error: Specify plot type'
if render:
show()
def cal_step(param, t):
ws, ls, wg, lg, sig2, gain = param
num = [gain, 0.]
den = [
1., 2 * ls * ws + 2 * lg * wg,
ws**2 + wg**2 + 4. * ls * ws * lg * wg * (1 - sig2),
2 * ls * ws * wg**2 + 2 * lg * wg * ws**2, (ws**2) * (wg**2)
]
_, steppulse = step((num, den), T=t)
steppulse /= max(steppulse)
return steppulse
def plot_Seep_Response(pltfile, paz, sName, type):
poles = paz['poles']
zeros = paz['zeros']
scale_fac = paz['gain'] * paz['seismometer_gain']
from scipy import signal
system = (zeros, poles, scale_fac)
t, y = signal.step(system, N=10000)
fStep = t[len(t) - 1] / len(y)
y[0] = 0
if (1000 <= type and type < 2000):
for i in range(1, len(y)):
y[i] = y[i - 1] + y[i] * fStep * 0.001 # 输出太大，按 0.001m/s**2 响应计算
Ymax = max(y)
Ymin = min(y)
Tmax = Tmin = Tzero = 0
index = 0
for index in range(2, len(y)):
if (y[index] >= Ymax and Tmax == 0):
Tmax = index * fStep
if (y[index] <= Ymin and Tmin == 0):
Tmin = index * fStep
if (y[index] * y[index - 1] <= 0 and Tzero == 0):
Tzero = index * fStep
if (1000 <= type and type < 2000):
sInfo = '%s 地震计阶跃理论响应(等效激励=1mm/s**2)\n T=%.3fs:Vmax=%.3fV, T=%.3fs:V=0, T=%.3fs:Vmin=%.3fV' \
% (sName, Tmax, Ymax, Tzero, Tmin, Ymin)
elif (2000 <= type):
sInfo = '%s 加速度计阶跃理论响应(等效激励=1m/s**2)' % (sName)
else:
sInfo = '仪器 %s 阶跃理论响应' % (sName)
font = FontProperties(fname=r"c:\windows\fonts\simsun.ttc", size=12)
fontTitle = FontProperties(fname=r"c:\windows\fonts\simsun.ttc", size=18)
plt.figure(figsize=(16, 12))
plt.grid(linestyle=':')
import datetime
timestr = datetime.datetime.now().strftime('%Y-%m-%d')
timestr = "Created by 泰德, " + timestr
x0 = ' 时间(s) ' + timestr
plt.xlabel(x0, fontproperties=font)
plt.ylabel('幅度(V)', fontproperties=font)
plt.suptitle(sInfo, fontproperties=fontTitle)
plt.plot(t, y)
# plt.text(1400,200,timestr,fontsize=12,xycoords='•axes pixels')
# dict0 = dict[width:0,headwidth:0,headlength:0,shrink:0,facecolor:'white']
# plt.annotate(s=timestr, xy=(1400,200), xytext=(0, 0),xycoords='•axes pixels',arrowprops=dict0)
plt.savefig(pltfile)
plt.close('all')
return (Ymax, Ymin, Tmax, Tmin, Tzero)
def MotorControl():
J = .01 # kgm**2
b = .1 # N.m.s
Ke = .01 # V/rad/sec
Kt = .01 # N.m/Amp
R = 1 # Electrical resistance
L = .5 # Henries
K = Kt # or Ke, Ke == Kt here
# State Space Model
A = np.matrix([[-b / J, K / J], [-K / L, -R / L]])
B = np.matrix([[0], [1 / L]])
C = np.matrix([1, 0])
D = np.matrix([0])
dt = .025 # Discrete Sample Time
ss = sig.StateSpace(A, B, C, D)
ssd = sig.cont2discrete((A, B, C, D), dt)
Ad = ssd[0]
Bd = ssd[1]
Cd = ssd[2]
evc, evecc = np.linalg.eig(A)
evd, evecd = np.linalg.eig(Ad)
# Create Bode
#w, mag, phase = sig.bode(ss)
#plot_SISO(w,mag, "Freq Response Mag vs w")
#plot_SISO(w, phase, "Freq Response Phase vs w")
#discrete_time_frequency_repsonse()
# Transfer Function
tf = ss.to_tf()
print(tf)
t, y = sig.step(ss)
td, yd = sig.dstep(ssd)
yd = np.reshape(yd, -1)
#plot_SISO(t,y)
#plot_SISO(td, yd)
#pole_zeros(A, B, C, plot=True)
#pole_zeros(Ad, Bd, Cd, plot=True)
T = 10
N = T / dt
times = np.arange(0, T, dt)
U = np.ones(int(N))
x0 = np.matrix([0, 0]).T
xr = np.matrix([2.5, 0])
kp = 15
kd = 4
ki = 100
Q = Cd.T * Cd
R = np.matrix([.0005])
discrete_time_response(Ad, Bd, Cd, U, x0, dt, plot=True)
discrete_time_frequency_repsonse(Ad, Bd, Cd, 20, dt)
continous_time_frequency_repsonse(A, B, C)
discrete_pid_response((Ad, Bd, Cd), x0, xr, times, kp, ki, kd)
sim_dlqr(Ad, Bd, Cd, Q, R, x0, xr, dt, T)
x = 9
def simulated_validation_data(self, sample_time=0.1, step_time=10):
time_array, output_array = signal.step(self.transfer_function_generator(),
T=np.arange(0, step_time, sample_time))
initial_condition_2 = np.arange(9501) * 0
initial_condition = output_array * 0
first_step_up = output_array
second_step_down = first_step_up[-1] - output_array
third_step_down = second_step_down[-1] - output_array
four_step_up = third_step_down[-1] + output_array
output = np.concatenate((initial_condition_2, initial_condition,
first_step_up, second_step_down, third_step_down, four_step_up))
time = np.arange(0, 17001, sample_time)
return time, output
def plot_step_response(self):
# Calculating plot points
self.t_step_res, self.step_response = ss.step(self.tf)
# Plotting impulse response
self.axes.clear()
self.axes.plot(self.t_step_res, self.step_response)
self.axes.grid(which='major')
self.axes.grid(which='minor')
self.axes.set_xlabel('Time (s)')
self.axes.set_ylabel('Step Response (V)')
self.canvas.draw()
def plot_y(gain, f1, f2, t_targ, tot_err):
n = 5000
tvec = np.linspace(0, 5 * t_targ, n)
num = [gain]
den = [
1 / (4 * np.pi**2 * f1 * f2), (1 / f1 + 1 / f2) / 2 / np.pi, gain + 1
]
_, yvec = sig.step((num, den), T=tvec)
plt.figure(1)
plt.plot(tvec, yvec, 'b')
plt.plot(tvec, [1 - tot_err] * n, 'r')
plt.plot(tvec, [1 + tot_err] * n, 'r')
plt.show()
def step_response(self):
"""Computing and plotting STEP response of the filter."""
(T, yout) = signal.step((self.b, self.a))
#Plotting step response
pyplot.figure()
try:
pyplot.plot(T, yout)
except ComplexWarning:
pass
pyplot.grid(True)
pyplot.xlabel('Time')
pyplot.xlim(min(T), max(T))
pyplot.title('Impulse response' + "\n" + str(self.ord) + "th order " + self.btype + " " + self.ftype_plot + " filter")
def stepplot(self):
K = self.gain.value()
tau = self.tau.value()
sys = signal.TransferFunction([K],[tau,1])
T, yout = signal.step(sys)
self.ax.clear()
self.ax.plot(T,yout)
self.canvas.draw()
self.toolbar
if self.navTools.isChecked():
self.verticalLayout.addWidget(self.toolbar)
else:
self.verticalLayout.removeWidget(self.toolbar)
print(self.navTools.isChecked())
def step_response(self):
"""Computing and plotting STEP response of the filter."""
(T, yout) = signal.step((self.b, self.a))
#Plotting step response
pyplot.figure()
try:
pyplot.plot(T, yout)
except ComplexWarning:
pass
pyplot.grid(True)
pyplot.xlabel('Time')
pyplot.xlim(min(T), max(T))
pyplot.title('Impulse response' + "\n" + str(self.ord) + "th order " +
self.btype + " " + self.ftype_plot + " filter")
def get_cal_resp(fA0, fFreq, fFactor):
omiga = fFreq * 2 * math.pi
a = -fFactor * omiga
b = math.sqrt(1 - fFactor * fFactor) * omiga
poles = [complex(a, b), complex(a, -b)]
zeros = [complex(0, 0), complex(0, 0)]
scale_fac = fA0
from scipy import signal
system = (zeros, poles, scale_fac)
t, y = signal.step(system, N=10000)
fStep = t[len(t) - 1] / len(y)
y[0] = 0
for i in range(1, len(y)):
y[i] = y[i - 1] + y[i] * fStep
return (t, y)
def plot_step(self, ylabel=None, figsize=None):
t, y = signal.step((self.num, self.den))
n_zeros = int(t.size * 0.1)
T = t[1]
r = np.concatenate((np.zeros(n_zeros), np.ones(t.size)))
t = np.concatenate(((np.arange(n_zeros) - n_zeros) * T, t))
y = np.concatenate((np.zeros(n_zeros), y))
plt.figure(figsize=figsize)
plt.plot(t, r)
plt.plot(t, y)
plt.xlabel('Time [in s]')
plt.ylabel(ylabel if ylabel is not None else "Amplitude")
plt.tight_layout()
def accept(self):
print(self.selector)
if self.selector == 'impuse':
t, u = impulse((self.block.num, self.block.den))
self.get = [t, u]
if self.selector == 'step':
t, u = step((self.block.num, self.block.den))
self.get = [t, u]
if self.selector == 'custom':
time = float(self.ts_edit.text())
count = self.methodbox.currentIndex()
dd, d1, d3d = cont2discrete((self.block.num, self.block.den), time,
self.indcator[count])
if self.sigtmp:
t, u = self.calcc2d(self.sigtmp, dd[0], d1, d3d)
self.get = [t, u]
super(c2ddlg, self).accept()
def get_performance_indicators_pid(self, kp: float, ki: float,
kd: float) -> IndicatorPID:
# Get lti function about pid
tf = self.get_lti_by_pid(kp=kp, ki=ki, kd=kd)
# Analisy signal response a step signal
t, y = signal.step(tf)
# Get a time to setpoint
time_to_setpoint = 0
for i in range(0, len(y)):
if y[i] >= 1.0 and y[i - 1] < 1.0:
time_to_setpoint = t[i]
break
return IndicatorPID(overpoint=y.max(),
time_to_setpoint=time_to_setpoint)
def run_main():
interp_method = 'spline'
sim_env = 'tt'
nmos_spec = 'specs_mos_char/nch_w0d5.yaml'
pmos_spec = 'specs_mos_char/pch_w0d5.yaml'
intent = 'lvt'
nch_db = get_db(nmos_spec, intent, interp_method=interp_method,
sim_env=sim_env)
nch_op = nch_db.query(vbs=0, vds=0.5, vgs=0.5)
pprint.pprint(nch_op)
# building circuit
cir = LTICircuit()
cir.add_transistor(nch_op, 'out', 'in', 'gnd', 'gnd', fg=2)
cir.add_res(10e3, 'out', 'gnd')
cir.add_cap(100e-15, 'out', 'gnd')
# get gain/poles/zeros/bode plot
trans_fun = cir.get_transfer_function('in', 'out', in_type='v')
print('poles: %s' % trans_fun.poles)
print('zeros: %s' % trans_fun.zeros)
# note: don't use the gain attribute. For some reason it's broken
print('gain: %.4g' % (trans_fun.num[-1] / trans_fun.den[-1]))
fvec = np.logspace(5, 10, 1000)
_, mag, phase = sig.bode(trans_fun, w=2 * np.pi * fvec)
# get transient response
state_space = cir.get_state_space('in', 'out', in_type='v')
tvec = np.linspace(0, 1e-8, 1000)
_, yvec = sig.step(state_space, T=tvec)
_, (ax0, ax1) = plt.subplots(2, sharex=True)
ax0.semilogx(fvec, mag)
ax0.set_ylabel('Magnitude (dB)')
ax1.semilogx(fvec, phase)
ax1.set_ylabel('Phase (degrees)')
ax1.set_xlabel('Frequency (Hz)')
plt.figure(2)
plt.plot(tvec, yvec)
plt.ylabel('Output (V/V)')
plt.xlabel('Time (s)')
plt.show()
def step_response(sys,sysd,Ts): #Draw the step response for the continuous-time and discrete-time systems
sysnum = asarray(sys.num)[0][0]
sysden = asarray(sys.den)[0][0]
sysdnum = asarray(sysd.num)[0][0]
sysdden = asarray(sysd.den)[0][0]
x = arange(0,100,0.1)
syslti = signal.lti(sysnum,sysden)
sysdlti = signal.lti(sysdnum,sysdden)
t,s = signal.step(syslti,T=x)
t2,s2 = signal.dstep((sysdnum,sysdden,Ts),t=x)
ax = plt.subplot(3,2,4)
plt.plot(t, s,color='blue',label='Continuous-time')
plt.plot(t2, s2[0],color='red',label='Discrete-time')
plt.title('Step response')
plt.xlabel('Time [sec]')
plt.ylabel('Amplitude')
plt.tight_layout(w_pad = 3.0)
plt.show()
def animate(i):
k = trange[0]+i*step
a1, b1 = system.as_numer_denom()
G = a1.subs(T,k)/b1.subs(T,k)
a1 = toPoly(a1)
b1 = toPoly(b1)
s1 = signal.lti(a1,b1)
w, mag, phase = s1.bode(w=freqrange)
line_gain.set_data(w, mag)
line_phase.set_data(w, phase)
line_gain.set_label("T={0}".format(k))
line_step.set_data(signal.step(s1))
legend = ax_gain.legend(loc='upper center', shadow=True)
for axis in [ax_gain,ax_phase,ax_pz,ax_step]:
axis.relim() # reset intern limits of the current axes
axis.autoscale_view() # reset axes limits
def update(**kwargs):
lti.update(**kwargs)
g_impulse.data_source.data['x'], g_impulse.data_source.data['y'] = (
impulse(lti.sys, T=t))
g_step.data_source.data['x'], g_step.data_source.data['y'] = (
step(lti.sys, T=t))
g_poles.data_source.data['x'] = lti.sys.poles.real
g_poles.data_source.data['y'] = lti.sys.poles.imag
w, mag, phase, = bode(lti.sys)
g_bode_mag.data_source.data['x'] = w
g_bode_mag.data_source.data['y'] = mag
g_bode_phase.data_source.data['x'] = w
g_bode_phase.data_source.data['y'] = phase
push_notebook()
def cavity_tf(RoverQ, Qg, Q0, Qprobe, bw, Kg_r, Kg_i, Ib,
foffset):
Rg = RoverQ * Qg
Kdrive = 2 * np.sqrt(Rg)
Ql = 1.0 / (1.0/Qg + 1.0/Q0 + 1.0/Qprobe)
K_beam = RoverQ * Ql
w_d = 2 * np.pi * foffset
a = Kdrive * bw
b = K_beam * bw
c = bw
num = a/c
den = [1.0/c,1.0]
sys = signal.TransferFunction(num,den)
t, y = signal.step(sys)
return t, y
def __init__(self, xinit, yinit, veloc, ang, direction):
"""
Inicjalizacja. Podajemy wspolrzedne srodka, predkosc poczatkowa i kat. Kat nie musi byc dokladny, byle tylko pokazywal mniej
wiecej, w ktora strone jedziemy.
:param xinit: wspolrzedna x srodka
:param yinit: wspolrzedna y srodka
:param veloc: predkosc poczatkowa
:param ang: kat
:param direction: kierunek ruchu
"""
threading.Thread.__init__(self)
self.licznik = t.time()
self.hamuj = False
self.ruszaj = False
self.dir = direction
numR = 0.5869 * 5.1
denR = [8.4184, 5.00, 3.000]
tfR = lti(numR, denR)
self.czas = 5.
self.maxVel = veloc
self.kalmen = kalmen.kalmenFilter()
tR, stepR = step(tfR, T = linspace(0, self.czas, self.czas*100))
self.model = {}
self.modelRev = {}
for i in range(tR.__len__()):
time = round(100*tR[i])/100
val = round(1000*stepR[i])/1000
self.model[ time ] = val
self.modelRev[ val ] = time
czasHalf = self.czas/2.
self.model [czasHalf] = (self.model [czasHalf - 0.01] + self.model [czasHalf + 0.01])/2
self.time = 0
self.czaz = t.time()
self.brakingVel = 0
self.x = xinit
self.y = yinit
self.angle = math.pi*ang/180
self.velocity = 0
def analysis(system,symbol,trange,s):
############################# startint value #####################################3
G = system.subs(symbol,1)
freqrange =[1e-1,1e2]
a1, b1 = G.as_numer_denom()
#print a1, b1
a1 = toPoly(a1)
b1 = toPoly(b1)
s1 = signal.lti(a1, b1)
w, mag, phase = s1.bode(w=freqrange)
################### PLOT ############################3
fig = plt.figure()
ax_gain = fig.add_subplot(3, 1, 1)
ax_phase = fig.add_subplot(3, 1, 2)
ax_step = fig.add_subplot(3, 2, 5)
ax_pz = fig.add_subplot(3, 2, 6)
################### GAIN ######################################
ax_gain.set_xlabel('w')
ax_gain.set_ylabel('gain')
line_gain = Line2D([], [], color='black',label="...")
ax_gain.add_line(line_gain)
ax_gain.semilogx(w,mag)
ax_gain.set_ylim([-30,10])
ax_gain.set_xlim(freqrange)
##################### PHASE ##########################
ax_phase.set_xlabel('omega')
ax_phase.set_ylabel('theta')
line_phase = Line2D([], [], color='black')
ax_phase.add_line(line_phase)
ax_phase.semilogx(w, phase) # Bode phase plot
ax_phase.set_ylim([-180,180])
ax_phase.set_xlim(freqrange)
legend = ax_gain.legend(loc='upper center', shadow=True)
##################### step ##################################
ax_step.set_xlabel('t')
ax_step.set_ylabel('Y')
line_step = Line2D([], [], color='black')
ax_step.add_line(line_step)
t, response = signal.step(s1)
ax_step.plot(t, response) # Bode phase plot
#ax_phase.set_ylim([-180,180])
#ax_phase.set_xlim(freqrange)
######################### zeros, poles #######################################
a1, b1 = G.as_numer_denom()
z, p = roots(a1,s), roots(b1,s)
#print z.keys(), p.keys()
z, p = np.array(z.keys(),dtype=np.complex64), np.array(p.keys(), dtype=np.complex64)
# Add unit circle and zero axes
unit_circle = mpatches.Circle((0,0), radius=1, fill=False,
color='black', ls='solid', alpha=0.1)
ax_pz.add_patch(unit_circle)
ax_pz.axvline(0, color='0.7')
ax_pz.axhline(0, color='0.7')
# Plot the poles and set marker properties
poles = ax_pz.plot(p.real, p.imag, 'x', markersize=9, alpha=0.5)
# Plot the zeros and set marker properties
zeros = ax_pz.plot(z.real, z.imag, 'o', markersize=9,
color='red', alpha=0.5,
#markeredgecolor=poles[0].get_color(), # same color as poles
)
# Scale axes to fit
r = 1.5 * np.amax(np.concatenate((abs(z), abs(p), [1])))
ax_pz.axis('scaled')
ax_pz.axis([-r, r, -r, r])
# ticks = [-1, -.5, .5, 1]
# plt.xticks(ticks)
############################################################################
# initialization function: plot the background of each frame
# animation function. This is called sequentially
step = (trange[1]-trange[0])/10.0
#print step
def animate(i):
k = trange[0]+i*step
a1, b1 = system.as_numer_denom()
G = a1.subs(T,k)/b1.subs(T,k)
a1 = toPoly(a1)
b1 = toPoly(b1)
s1 = signal.lti(a1,b1)
w, mag, phase = s1.bode(w=freqrange)
line_gain.set_data(w, mag)
line_phase.set_data(w, phase)
line_gain.set_label("T={0}".format(k))
line_step.set_data(signal.step(s1))
legend = ax_gain.legend(loc='upper center', shadow=True)
for axis in [ax_gain,ax_phase,ax_pz,ax_step]:
axis.relim() # reset intern limits of the current axes
axis.autoscale_view() # reset axes limits
# call the animator. blit=True means only re-draw the parts that have changed.
anim = animation.FuncAnimation(fig, animate, frames=10, interval=50, blit=True)
# call our new function to display the animatio1
display_animation(anim)
def time_step(self):
signal.step(self.system, T=self.t)
def stepResponse(system):
"""Computes the step response for a given system"""
c1,c2,r1,r2 = system
num = 1 / (c1*c2*r1*r2)
den = (1, (r1+r2)/(c1*r1*r2), 1/(c1*c2*r1*r2))
return sig.step((num,den))
# making transfer function
# example from Ogata Modern Control Engineering
# 4th edition, International Edition page 307
# num and den, can be list or numpy array type
#num = [6.3223, 18, 12.811]
#den = [1, 6, 11.3223, 18, 12.811]
num = [11]
den = [1,10,11]
tf = lti(num, den)
# get t = time, s = unit-step response
t, s = step(tf)
# recalculate t and s to get smooth plot
t, s = step(tf, T = linspace(min(t), t[-1], 500))
print "Time",t
print "YEs",s
# get i = impulse
#t, i = impulse(tf, T = linspace(min(t), t[-1], 500))
from matplotlib import pyplot as plt
plt.plot(t, s)
plt.title('Transient-Response Analysis')
def test_complex_input(self):
# Test that complex input doesn't raise an error.
# `step` doesn't seem to have been designed for complex input, but this
# works and may be used, so add regression test. See gh-2654.
step(([], [-1], 1+0j))
import os
import numpy as np
from scipy import signal
import matplotlib.pyplot as plt
plt.rc('text', usetex=True)
plt.rc('font', family='serif')
# Parameters for mechanical oscillator
m = 1.0 # Mass [kg]
k = 0.8 # Spring constant [N/m]
c = 0.3 # Damping constant [Ns/m]
sys = signal.lti([ 1 ], [ m, c, k ])
# Time range
n = 500+1
t = np.linspace(0, 40, num=n)
# Simulate
T, yout = signal.step(sys, T=t)
# Plot result
plt.plot(T, yout, '-k')
plt.grid()
plt.xlabel('Time (s)')
plt.ylabel('Output (m)')
plt.savefig(os.path.splitext(__file__)[0] + '.pdf')
plt.show()
from pylab import * #importation de pylab pour les graphiques
from numpy import *
from scipy.signal import lti,step
m=0.5
wn=1
K=5
tf=lti([K],[(1/(wn**2)),2*m/wn,1])
t,y=step(tf)
fig=figure()
fig.patch.set_alpha(0.0)
plot(t,y)
xlabel("temps(s)")
ylabel("sortie")
plot([0,14],[K,K],'--',color="k")
text(11, K+0.05, 'Valeur finale')
show()
def heav(x):
if x == 0:
return 0.5
return 0 if x < 0 else 1
m = 1
b = 10
k = 50
num = [b, k]
den = [m, b, k]
sys = lti(num, den)
t, i = impulse(sys)
t, s = step(sys)
# -- Plot of impulse response
plt.plot(t, i, t, s)
plt.title('Impulse and Unit Step Response')
plt.xlabel('Time [s]')
plt.ylabel('Amplitude')
plt.xlim(xmax = max(t))
plt.legend(('Impulse Response', 'Unit Step Response'), loc = 0)
plt.grid()
plt.show()
# -- Plot of frequency response
w, H = freqresp(sys)
def analyze_lti(lti, t=np.linspace(0,10,100)):
"""Create a set of plots to analyze an lti system
Args:
lti (instance of an Interactive LTI system subclass ): lti system
to interact with
t (numpy array): Timepoints at which to evaluate the impulse and step
responses
"""
t_impulse, y_impulse = impulse(lti.sys)
fig_impulse = figure(
title="impulse response",
x_range=(0, 10), y_range=(-0.1, 3),
x_axis_label='time')
g_impulse = fig_impulse.line(x=t_impulse, y=y_impulse)
t_step, y_step = step(lti.sys)
fig_step = figure(
title="step response",
x_range=(0, 10), y_range=(-0.04, 1.04)
)
g_step = fig_step.line(x=t_step, y=y_step)
fig_pz = figure(title="poles and zeroes", x_range=(-4, 1), y_range=(-2,2))
g_poles = fig_pz.circle(
x=lti.sys.poles.real, y=lti.sys.poles.imag, size=10, fill_alpha=0
)
g_rootlocus = fig_pz.line(x=[0, -10], y=[0, 0], line_color='red')
w, mag, phase, = bode(lti.sys)
fig_bode_mag = figure(x_axis_type="log")
g_bode_mag = fig_bode_mag.line(w, mag)
fig_bode_phase = figure(x_axis_type="log")
g_bode_phase = fig_bode_phase.line(w, phase)
fig_bode = gridplot(
[fig_bode_mag], [fig_bode_phase], nrows=2,
plot_width=300, plot_height=150,
sizing_mode="fixed")
grid = gridplot(
[fig_impulse, fig_step],
[fig_pz, fig_bode],
plot_width=300, plot_height=300,
sizing_mode="fixed"
)
show(grid, notebook_handle=True)
def update(**kwargs):
lti.update(**kwargs)
g_impulse.data_source.data['x'], g_impulse.data_source.data['y'] = (
impulse(lti.sys, T=t))
g_step.data_source.data['x'], g_step.data_source.data['y'] = (
step(lti.sys, T=t))
g_poles.data_source.data['x'] = lti.sys.poles.real
g_poles.data_source.data['y'] = lti.sys.poles.imag
w, mag, phase, = bode(lti.sys)
g_bode_mag.data_source.data['x'] = w
g_bode_mag.data_source.data['y'] = mag
g_bode_phase.data_source.data['x'] = w
g_bode_phase.data_source.data['y'] = phase
push_notebook()
interact(update, **lti.update_kwargs)
from pylab import * #importation de pylab pour les graphiques
from numpy import *
from scipy import signal
m=0.5
m_vect=[0.5,0.7,1,1.3,1.6]
wn=10
K=1
for m in m_vect:
tf=signal.lti([K],[(1/(wn**2)),2*m/wn,1])
t,y=signal.step(tf)
#affichage de la RI
plot(t,y,label="m=%f" %m)
#calcul de la valeur finale
vf=y[-1]
vect_tr=where((y>1.05*vf)|(y<0.95*vf))[0] #Identification des éléments pour lesquelles la réponse indicielle est
index_tr=vect_tr[-1] #Récupération du dernier élément du vecteur
tr=t[index_tr]
#calcul du dépassement relatif
Dr=100*(max(y)-vf)/vf
print("---------m=%f--------" % m)
print("Valeur finale:\t %f" % vf)
print("Temps de réponse: %f" % tr)
