def testPade(self):
"""Call pade()"""
pade(1, 1)
pade(1, 2)
pade(5, 4)
""" from control import matlab import numpy as np Kt = 10 # Steady-State gain J = 25 # Time Constant Cm = 4 # Dead time ここでは使用しない num = [Kt] # 分子の係数 dem = [J, 1] # 分母の係数 P = matlab.tf(num, dem) #pade近似を表現,前提として5秒のむだ時間を設定 #まずパデ近似の分子、分母を求める num2, dem2 = matlab.pade(5,2) num4, dem4 = matlab.pade(5,4) num6, dem6 = matlab.pade(5,6) num8, dem8 = matlab.pade(5,8) num10, dem10 = matlab.pade(5,10) #pade近似の分子、分母を伝達関数の形に変換 P2 = matlab.tf(num2,dem2) P4 = matlab.tf(num4,dem4) P6 = matlab.tf(num6,dem6) P8 = matlab.tf(num8,dem8) P10 = matlab.tf(num10,dem10) #最後にstep応答を行う time= 100 t = np.linspace(0,time,1000) y2,T = matlab.step(P2,t) y4,T = matlab.step(P4,t)
import numpy as np
from control import matlab
from matplotlib import pyplot as plt
from matplotlib import animation
m = 1000
c = 100
G = matlab.tf([1], [m, c])
t_delay = 0.5
n_pade = 10
(num_pade, den_pade) = matlab.pade(t_delay, n_pade)
G_delay = matlab.tf(num_pade, den_pade)
G = matlab.series(G_delay, G)
# Kp = 2000
# Ki = 0
# Kd = 0
# num = [Kd, Kp, Ki]
# den = [1, 0]
# K = matlab.tf(num, den)
#
# sys = matlab.feedback(K*G, 1)
t = np.linspace(0, 20, 2000)
target = []
for i in t:
if i < 2.0:
target.append(0.0)
else:
#parameters
Kc = .52 #controller gain
td = 0 #controller time constant, realized this was not needed for this model
Tf = 1 #throughput time delay, from when ordered to when arrived
d = 5770 #demand
r = 11270 #production schedule to leave 5500 in inventory at all time
taus = .000000000001 #used for 'f' to set s very small so it doesnt matter
f = control.tf(
[1], [taus, 1]
) #transfer function to get the units to balance, basically equals 1 yest gets the 's' values to be equal on num and denom
# transfer functions
K = Kc * control.tf([td, 1], [1]) #PD controller transfer function
num, den = control.pade(Tf, 3)
P = control.tf(num, den) #time delay transfer function
Kv = control.tf([1], [1, 0]) #step response transfer function
Hud = ((K * Kv) / (1 + K * P * Kv)
) #Transfer function from the production to the demand (disturbance)
Hur = (K * f / (1 + K * P * Kv)
) #transfer function from the production to set point
Ys = ((P * K * Kv) /
(1 + P * K * Kv)) * r - (1 / (1 + P * K * Kv)) * d #Change in production
Us = ((K * Kv) /
(1 + K * P * Kv)) * r - (K * Kv /
(1 + K * P * Kv)) * d #change in inventory