def test_initialization(self):
# Check that all initializations work
dt = 0.05
s = ZerosPolesGain(1, 1, 1, dt=dt)
s = ZerosPolesGain([1], [2], 1, dt=dt)
s = ZerosPolesGain(np.array([1]), np.array([2]), 1, dt=dt)
s = ZerosPolesGain(1, 1, 1, dt=True)
def test_conversion(self):
#Check the conversion functions
s = ZerosPolesGain(1, 2, 3)
assert_(isinstance(s.to_ss(), StateSpace))
assert_(isinstance(s.to_tf(), TransferFunction))
assert_(isinstance(s.to_zpk(), ZerosPolesGain))
# Make sure copies work
assert_(ZerosPolesGain(s) is not s)
assert_(s.to_zpk() is not s)
def test_properties(self):
# Test setters/getters for cross class properties.
# This implicitly tests to_ss() and to_tf()
# Getters
s = ZerosPolesGain(0, 1, 1, dt=0.05)
with warnings.catch_warnings():
warnings.simplefilter("ignore", DeprecationWarning)
assert_equal(s.num, [1, 0])
assert_equal(s.den, [1, -1])
assert_equal(s.A, 1)
assert_equal(s.B, 1)
assert_equal(s.C, 1)
assert_equal(s.D, 1)
# state space setters
s2 = ZerosPolesGain([2], [6], 3, dt=0.05)
with warnings.catch_warnings():
warnings.simplefilter("ignore", DeprecationWarning)
s2.A = 1
s2.B = 1
s2.C = 1
s2.D = 1
self._compare_systems(s, s2)
# tf setters
s2 = ZerosPolesGain([2], [5], 3, dt=0.05)
with warnings.catch_warnings():
warnings.simplefilter("ignore", DeprecationWarning)
s2.num = [1, 0]
s2.den = [1, -1]
self._compare_systems(s, s2)
def test_conversion(self):
# Check the conversion functions
s = ZerosPolesGain(1, 2, 3, dt=0.05)
assert_(isinstance(s.to_ss(), StateSpace))
assert_(isinstance(s.to_tf(), TransferFunction))
assert_(isinstance(s.to_zpk(), ZerosPolesGain))
# Make sure copies work
assert_(ZerosPolesGain(s) is not s)
assert_(s.to_zpk() is not s)
def convert_forward_euler(pa, Tsampling=0.01):
# if isintance(pa, TransferFunction):
if isinstance(pa, lti):
#reviso primero el valor final
s = Symbol('s')
pa_sympy = lti_to_sympy(pa)
final_value_analog = pa_sympy.subs(s, 0).evalf()
# print (' Final value: ' + str(final_value_analog))
#convierto backward euler
num_d, den_d, td = cont2discrete((pa.num, pa.den),
Tsampling,
method='euler')
zd, pd, kd = tf2zpk(num_d, den_d)
#agrego zeros infinitos
while (np.shape(zd) < np.shape(pd)):
zd = np.append(zd, [-1])
#normalizo los zeros
planta_d = ZerosPolesGain(zd, pd, kd)
planta_d = planta_d.to_tf()
zd, pd, kd = tf2zpk(planta_d.num, planta_d.den)
#convierto a sympy para evaluar el valor final y ajustarlo
planta_d_sympy = lti_to_sympy(planta_d)
z = Symbol('z')
planta_d_sympy = planta_d_sympy.subs(s, z)
final_value_d = planta_d_sympy.subs(z, 1).evalf()
#ahora ajusto la ganancia para que me coincidan los dos valores finales
kd = kd * final_value / final_value_d
# print ('Ceros digital: ' + str(zd))
# print ('Polos digital: ' + str(pd))
# print ('K digital: ' + str(kd))
#normalizo por ultima vez planta_d, ya agregue los zeros
#y ajuste la ganancia con los valores finales
planta_d = ZerosPolesGain(zd, pd, kd)
planta_d = planta_d.to_tf()
# print ('planta_d ' + str(planta_d))
#muestro el valor final
planta_d_sympy = lti_to_sympy(planta_d)
z = Symbol('z')
planta_d_sympy = planta_d_sympy.subs(s, z)
final_value_d = planta_d_sympy.subs(z, 1).evalf()
# print ('planta_d final value: ' + str(final_value_d))
#reconvierto planta_d a dlti
planta_d = dlti(planta_d.num, planta_d.den, dt=td)
return planta_d
else:
raise ValueError('planta_analog is not instance of TransferFunction!')
def test_initialization(self):
# Check that all initializations work
s = ZerosPolesGain(1, 1, 1)
s = ZerosPolesGain([1], [2], 1)
s = ZerosPolesGain(np.array([1]), np.array([2]), 1)
def test_properties(self):
# Test setters/getters for cross class properties.
# This implicitly tests to_ss() and to_tf()
# Getters
s = ZerosPolesGain(0, 1, 1, dt=0.05)
with warnings.catch_warnings():
warnings.simplefilter("ignore", DeprecationWarning)
assert_equal(s.num, [1, 0])
assert_equal(s.den, [1, -1])
assert_equal(s.A, 1)
assert_equal(s.B, 1)
assert_equal(s.C, 1)
assert_equal(s.D, 1)
# state space setters
s2 = ZerosPolesGain([2], [6], 3, dt=0.05)
with warnings.catch_warnings():
warnings.simplefilter("ignore", DeprecationWarning)
s2.A = 1
s2.B = 1
s2.C = 1
s2.D = 1
self._compare_systems(s, s2)
# tf setters
s2 = ZerosPolesGain([2], [5], 3, dt=0.05)
with warnings.catch_warnings():
warnings.simplefilter("ignore", DeprecationWarning)
s2.num = [1, 0]
s2.den = [1, -1]
self._compare_systems(s, s2)
print('Denominador Digital planta out 1 ' + str(den_d1))
planta_d1 = lti(num_d1, den_d1)
planta_d1_zpk = planta_d1.to_zpk()
print('Ceros Digitales ' + str(planta_d1_zpk.zeros))
print('Polos Digitales ' + str(planta_d1_zpk.poles))
print('Gain Digital ' + str(planta_d1_zpk.gain))
# convierto a planta_d2 ajusto al sistema digital 2 zeros en infinito y corrijo la ganancia
zd2, pd2, kd2 = tf2zpk(num_d1, den_d1)
while (np.shape(zd2) < np.shape(pd2)):
zd2 = np.append(zd2, [-1])
#normalizo
planta_d2 = ZerosPolesGain(zd2, pd2, kd2)
planta_d2 = planta_d2.to_tf()
zd2, pd2, kd2 = tf2zpk(planta_d2.num, planta_d2.den)
#convierto a sympy para evaluar el valor final y ajustarlo
planta_d2_sympy = lti_to_sympy(planta_d2)
z = Symbol('z')
planta_d2_sympy = planta_d2_sympy.subs(s, z)
final_value_d2 = planta_d2_sympy.subs(z, 1).evalf()
#ahora ajusto la ganancia para que me coincidan los dos valores finales
kd2 = kd2 * final_value / final_value_d2
print('Ceros digital: ' + str(zd2))
print('Polos digital: ' + str(pd2))
print('K digital: ' + str(kd2))
# num_d1, den_d1, td = cont2discrete((planta.num, planta.den), Tsampling, method='zoh')
# num_d1, den_d1, td = cont2discrete((planta.num, planta.den), Tsampling, method='backward_diff')
# num_d1, den_d1, td = cont2discrete((planta.num, planta.den), Tsampling, method='bilinear')
print('Numerador Digital planta: ' + str(num_d1))
print('Denominador Digital planta: ' + str(den_d1))
#busco zeros polos y ganancia
# despues ajusto zeros y ganancia, por ultimo normalizo e imprimo
zd, pd, kd = tf2zpk(num_d1, den_d1)
while (np.shape(zd) < np.shape(pd)):
zd = np.append(zd, [-1])
#normalizo
planta_d = ZerosPolesGain(zd, pd, kd)
planta_d = planta_d.to_tf()
zd, pd, kd = tf2zpk(planta_d.num, planta_d.den)
#convierto a sympy para evaluar el valor final
planta_d_sympy = lti_to_sympy(planta_d)
z = Symbol('z')
planta_d_sympy = planta_d_sympy.subs(s, z)
print(planta_d_sympy)
final_value_d = planta_d_sympy.subs(z, 1).evalf()
print('final value digital: ' + str(final_value_d))
#ahora ajusto la ganancia para que me coincidan los dos valores finales
kd = kd * final_value / final_value_d
print('Ceros digital: ' + str(zd))
print('Polos digital: ' + str(pd))
