def test1():
if not test_ode:
return
from pyctrl import Controller
controller = Controller()
Ts = 0.01
clock = TimerClock(period=Ts)
controller.add_source('clock', clock, ['clock'])
a = -1
b = 1
def f(t, x, u, a, b):
return a * x + b * u
t0 = 0
uk = 1
x0 = np.array([0])
sys = ODE((1, 1, 1), f, x0=x0, t0=t0, pars=(a, b))
controller.add_signals('input', 'output')
controller.add_filter('condition', Map(function=lambda x: x < 1),
['clock'], ['is_running'])
controller.add_filter('ode', TimeVaryingSystem(model=sys),
['clock', 'input'], ['output'])
controller.add_sink('logger', Logger(), ['clock', 'output'])
print(controller.info('all'))
controller.set_filter('ode', reset=True)
controller.set_source('clock', reset=True)
controller.set_sink('logger', reset=True)
controller.set_signal('input', uk)
controller.run()
xk = sys.state
log = controller.get_sink('logger', 'log')
t0 = log['clock'][0, 0]
tk = log['clock'][-1, 0]
yk = log['output'][-1, 0]
print('t0 = {}'.format(t0))
print('tk = {}'.format(tk))
print('yk = {}'.format(yk))
yyk = uk * (1 - math.exp(a * (tk - t0))) + x0[0] * math.exp(a * (tk - t0))
print(log)
print(t0, x0, tk, xk, yk, yyk)
assert np.abs(yk - yyk) < 1e-2
uk = 0
x0 = sys.state
controller.add_filter('condition', Map(function=lambda x: x < 2),
['clock'], ['is_running'])
print(controller.info('all'))
print('clock = {}'.format(controller.get_signal('clock')))
#controller.set_source('clock', reset = True)
controller.set_sink('logger', reset=True)
controller.set_signal('input', uk)
controller.run()
xk = sys.state
print('clock = {}'.format(controller.get_signal('clock')))
log = controller.get_sink('logger', 'log')
print('log = {}'.format(log))
t0 = log['clock'][0, 0]
tk = log['clock'][-1, 0]
yk = log['output'][-1, 0]
print('t0 = {}, x0 = {}, tk = {}, xk = {}, yk = {}'.format(
t0, x0, tk, xk, yk))
yyk = uk * (1 - math.exp(a * (tk - t0))) + x0 * math.exp(a * (tk - t0))
print(log)
print(t0, x0, tk, xk, yk, yyk)
assert np.abs(yk - np.array([yyk])) < 1e-2
uk = -1
x0 = sys.state
controller.add_filter('condition', Map(function=lambda x: x < 3),
['clock'], ['is_running'])
#controller.set_source('clock', reset = True)
controller.set_sink('logger', reset=True)
controller.set_signal('input', uk)
controller.run()
xk = sys.state
log = controller.get_sink('logger', 'log')
t0 = log['clock'][0, 0]
tk = log['clock'][-1, 0]
yk = log['output'][-1, 0]
yyk = uk * (1 - math.exp(a * (tk - t0))) + x0 * math.exp(a * (tk - t0))
print(t0, x0, tk, xk, yk, yyk)
assert np.abs(yk - np.array([yyk])) < 1e-2
clock.set_enabled(False)
def _test_mip_balance():
import numpy as np
from pyctrl import Controller
from pyctrl.block.container import Container, Input, Output
from pyctrl.block.system import System, Subtract, Differentiator, Sum, Gain
from pyctrl.block.nl import ControlledCombination, Product
from pyctrl.block import Fade, Printer
from pyctrl.system.ss import DTSS
from pyctrl.block.logic import CompareAbsWithHysterisis, SetFilter, State
GRN_LED = 61
PAUSE_BTN = 62
# create mip
mip = Controller()
# add signals
mip.add_signals('theta', 'theta_dot', 'encoder1', 'encoder2', 'pwm1',
'pwm2')
# phi is the average of the encoders
mip.add_signal('phi')
mip.add_filter('phi', Sum(gain=0.5), ['encoder1', 'encoder2'], ['phi'])
# phi dot
mip.add_signal('phi_dot')
mip.add_filter('phi_dot', Differentiator(), ['clock', 'phi'], ['phi_dot'])
# phi dot and steer reference
mip.add_signals('phi_dot_reference', 'phi_dot_reference_fade')
mip.add_signals('steer_reference', 'steer_reference_fade')
# add fade in filter
mip.add_filter('fade', Fade(target=[0, 0.5], period=5),
['clock', 'phi_dot_reference', 'steer_reference'],
['phi_dot_reference_fade', 'steer_reference_fade'])
# state-space matrices
A = np.array([[0.913134, 0.0363383], [-0.0692862, 0.994003]])
B = np.array([[0.00284353, -0.000539063], [0.00162443, -0.00128745]])
C = np.array([[-383.009, 303.07]])
D = np.array([[-1.22015, 0]])
B = 2 * np.pi * (100 / 7.4) * np.hstack((-B, B[:, 1:]))
D = 2 * np.pi * (100 / 7.4) * np.hstack((-D, D[:, 1:]))
ssctrl = DTSS(A, B, C, D)
# state-space controller
mip.add_signals('pwm')
mip.add_filter('controller', System(model=ssctrl),
['theta_dot', 'phi_dot', 'phi_dot_reference_fade'], ['pwm'])
# enable pwm only if about small_angle
mip.add_signals('small_angle', 'small_angle_pwm')
mip.add_filter('small_angle_pwm', Product(), ['small_angle', 'pwm'],
['small_angle_pwm'])
# steering biasing
mip.add_filter(
'steer', ControlledCombination(),
['steer_reference_fade', 'small_angle_pwm', 'small_angle_pwm'],
['pwm1', 'pwm2'])
# set references
mip.set_signal('phi_dot_reference', 0)
mip.set_signal('steer_reference', 0.5)
# add supervisor actions on a timer
# actions are inside a container so that they are executed all at once
mip.add_timer('supervisor',
Container(), ['theta'], ['small_angle', 'is_running'],
period=0.5,
repeat=True)
mip.add_signals('timer/supervisor/theta', 'timer/supervisor/small_angle',
'timer/supervisor/is_running')
mip.add_source('timer/supervisor/theta', Input(), ['theta'])
mip.add_sink('timer/supervisor/small_angle', Output(), ['small_angle'])
mip.add_sink('timer/supervisor/is_running', Output(), ['is_running'])
# add small angle sensor
mip.add_filter(
'timer/supervisor/is_angle_small',
CompareAbsWithHysterisis(threshold=0.11,
hysterisis=0.09,
offset=-0.07,
state=(State.LOW, )), ['theta'],
['small_angle'])
# reset controller and fade
mip.add_sink(
'timer/supervisor/reset_controller',
SetFilter(label=['/controller', '/fade'], on_rise={'reset': True}),
['small_angle'])
# add pause button on a timer
mip.add_source('timer/supervisor/pause_button',
('pyctrl.block', 'Constant'), ['is_running'],
kwargs={'value': 0},
enable=True)
from pyctrl.flask import JSONEncoder, JSONDecoder
json1 = JSONEncoder(sort_keys=True, indent=4).encode(mip)
obj = JSONDecoder().decode(json1)
json2 = JSONEncoder(sort_keys=True, indent=4).encode(obj)
assert json1 == json2
print('json = \n{}'.format(json1))
def test2():
if not test_ode:
return
m1 = 30 / 1000
l1 = 7.6 / 100
r1 = (5 - (10 - 7.6) / 2) / 100
w1 = 10 / 100
d1 = 2.4 / 100
J1 = m1 * (w1**2 + d1**2) / 12
m2 = 44 / 1000
w2 = 25.4 / 100
d2 = 2.4 / 100
J2 = m2 * (w2**2 + d2**2) / 12
r2 = (25.4 / 2 - 1.25) / 100
Jm = 0.004106
km = 0.006039
bm = 0.091503
g = 9.8
bPhi = 0
bTheta = 0
def MK(x, u):
theta, phi, thetaDot, phiDot = x
return (
np.array([[J2 + m2 * r2**2, m2 * r2 * l1 * math.cos(theta - phi)],
[
m2 * r2 * l1 * math.cos(theta - phi),
J1 + Jm + m1 * r1**2 + m2 * l1**2
]]),
np.array([
bTheta * thetaDot + m2 * r2 *
(g * math.sin(theta) + l1 * math.sin(theta - phi) * phiDot**2),
g * (m1 * r1 + m2 * l1) * math.sin(phi) -
m2 * r2 * l1 * math.sin(theta - phi) * thetaDot**2 +
(bm + bPhi) * phiDot - km * u[0]
]))
def ff(t, x, u):
M, K = MK(x, u)
return np.hstack((x[2:4], -la.solve(M, K)))
theta0, phi0 = 0 + math.pi / 6, 0
t0, x0, u0 = 0, np.array([theta0, phi0, 0, 0]), [0]
M, K = MK(x0, u0)
print(M)
print(K)
print(ff(t0, x0, u0))
sys = ODE(shape=(1, 4, 4), t0=t0, x0=x0, f=ff)
tk = 5
uk = [0]
yk = sys.update(tk, uk)
print('1. [{:3.2f}, {:3.2f}] = {}'.format(t0, tk, yk))
from pyctrl import Controller
controller = Controller()
Ts = 0.01
controller.add_source('clock', Clock(), ['clock'])
condition = Map(function=lambda t: t < T)
controller.add_filter('condition', condition, ['clock'], ['is_running'])
controller.add_signals('tau', 'x')
controller.add_filter(
'ode',
TimeVaryingSystem(model=ODE(shape=(1, 4, 4), t0=t0, x0=x0, f=ff)),
['clock', 'tau'], ['x'])
controller.add_sink('logger', Logger(), ['clock', 'x'])
controller.set_source('clock', reset=True)
T = 5 + Ts
controller.run()
log = controller.get_sink('logger', 'log')
t0 = log['clock'][0, 0]
tk = log['clock'][0, -1]
yk = log['x'][0, -1]
# yk = log[-1,1:]
print('2. [{:3.2f}, {:3.2f}] = {}'.format(t0, tk, yk))
import control
fc = 7
wc = 2 * math.pi * fc
lpf = control.tf(wc, [1, wc])
ctr = -2 * 100
def gg(t, x, u):
return [x[0]]
Ts = 0.01
Ac, Bc, Cc, Dc = map(np.array, control.ssdata(control.ss(lpf * ctr)))
nc = Ac.shape[0]
def F(t, x, ref):
x, xc = x[0:4], x[4:4 + nc]
y = ref - gg(t, x, [0])
u = max(-100, min(100, Cc.dot(xc) + Dc.dot(y)))
#print(ff(t,x,u))
return np.hstack((ff(t, x, u), Ac.dot(xc) + Bc.dot(y)))
eta = 0
kappa = 0
ref = np.array([eta * math.pi])
theta0 = -20 * math.pi / 180
xx0 = [kappa * math.pi - theta0, eta * math.pi, 0, 0]
xc0 = np.zeros((nc, ))
x0 = np.hstack((xx0, xc0))
t0 = 0
print('F = {}'.format(F(t0, x0, ref)))
sys = ODE(shape=(1, 4, 4), t0=t0, x0=x0, f=F)
tk = 1
uk = np.array([0])
yk = sys.update(tk, uk)
print('1. [{:3.2f}, {:3.2f}] = {}'.format(t0, tk, yk))
controller.reset()
Ts = 0.01
controller.add_source('clock', Clock(), ['clock'])
condition = Map(function=lambda t: t < T)
controller.add_filter('condition', condition, ['clock'], ['is_running'])
controller.add_signals('ref', 'x')
controller.add_filter(
'ode',
TimeVaryingSystem(model=ODE(shape=(1, 4, 4), t0=t0, x0=x0, f=F)),
['clock', 'ref'], ['x'])
controller.add_sink('logger', Logger(), ['clock', 'x'])
#print(controller.info('all'))
controller.set_source('clock', reset=True)
controller.set_signal('ref', ref)
T = 1 + Ts
controller.run()
log = controller.get_sink('logger', 'log')
t0 = log['clock'][0, 0]
tk = log['clock'][0, -1]
yk = log['x'][0, -1]
#yk = log[-1,1:]
print('2. [{:3.2f}, {:3.2f}] = {}'.format(t0, tk, yk))