def model(T, h, x0, y0):
# Inicjacja tablic
times = mh.createArray(0, T, h)
d = 1
xs = [x0] #y
ys = [y0] #u
es = [d - xs[0]]
całka = es[0] * h
kp = 1
ki = 0.9
kd = 0.5
a = -1. / 2.
# Symulacja wypełniająca tablice
for i in range(0, len(times) - 1):
es.append(d - xs[i])
xs.append(xs[i] + h * (a * xs[i] + ys[i]))
całka += es[i + 1] * h
ys.append(kp * (es[i + 1]) + ki * (całka) + kd *
((es[i + 1] - es[i]) / h))
return (times, xs, ys)
def model(T, h, y0, u0, d, kp, ki, kd, delay):
# Inicjacja tablic
times = mh.createArray(0, T, h)
ys = [y0]
es = [d - y0]
us = [u0]
a = 5
calka = 0
stepsDelayed = mh.delayToSteps(delay, h)
# Symulacja wypełniająca tablice
for i in range(0, len(times) - 1):
if i > stepsDelayed:
ys.append(ys[i] + h * (a * ys[i] + us[i]))
es.append(d - ys[i + 1])
calka += (es[i - stepsDelayed]) * h
us.append(kp * es[i + 1 - stepsDelayed] + kd *
((es[i + 1 - stepsDelayed] - es[i - stepsDelayed]) / h) +
ki * calka)
else:
ys.append(ys[i] + h * (a * ys[i] + us[i]))
es.append(d - ys[i + 1])
calka += (es[i]) * h
us.append(0)
return (times, ys, es, us, (kp, ki, kd))
def model(T, h, x0, y0):
# Inicjacja tablic
times = mh.createArray(0, T, h)
xs = [x0] #y
ys = [y0] #u
a = -1. / 2.
d = 0.4
treshhold = 0.05
speed = 1
lastRising = True
# Symulacja wypełniająca tablice
for i in range(0, len(times) - 1):
# xs.append(xs[i] + h * ( ))
# ys.append(ys[i] + h * ( ))
if not lastRising and d - treshhold - xs[i] > 0:
lastRising = True
print("Treshold passed. Start rising")
elif lastRising and d + treshhold - xs[i] <= 0:
lastRising = False
print("Treshold passed. Stop rising")
if lastRising:
ys.append(speed)
print("Rising")
else:
ys.append(0)
print("Falling")
print(3)
xs.append(xs[i] + h * (a * xs[i] + ys[i + 1]))
return (times, xs, ys)
def model(T, h, x0, y0):
# Inicjacja tablic
times = mh.createArray(0, T, h)
xs = [x0]
ys = [y0]
# Symulacja wypełniająca tablice
for i in range(0, len(times) - 1):
# xs.append(xs[i] + h * ( ))
# ys.append(ys[i] + h * ( ))
xs.append(xs[i] + h * (1 / 2 * xs[i] - ys[i] - 1 / 2 * (xs[i] ** 3 + xs[i] * ys[i] ** 2)))
ys.append(ys[i] + h * (xs[i + 1] + 1 / 2 * ys[i] - 1 / 2 * (ys[i] ** 3 + ys[i] * xs[i + 1] ** 2)))
return (times, xs, ys)
def model(T, h, x0, y0, z0):
# Inicjacja tablic
times = mh.createArray(0, T, h)
xs = [x0]
ys = [y0]
zs = [z0]
s = 10
r = 28
b = 8/3
# Symulacja wypełniająca tablice
for i in range(0, len(times) - 1):
# xs.append(xs[i] + h * ( ))
# ys.append(ys[i] + h * ( ))
xs.append(xs[i] + h * (s * (ys[i] - xs[i])))
ys.append(ys[i] + h * (r * xs[i+1] - ys[i] - xs[i+1] * zs[i]))
zs.append(zs[i] + h * (-1 * b * zs[i] + xs[i+1] * ys[i+1]))
return (times, xs, ys, zs)
def modelOld(T, h, y0, u0, d, kp, ki, kd):
# Inicjacja tablic
times = mh.createArray(0, T, h)
ys = [y0]
es = [d - y0]
us = [u0]
a = 5
calka = 0
# Symulacja wypełniająca tablice
for i in range(0, len(times) - 1):
ys.append(ys[i] + h * (a * ys[i] + us[i]))
es.append(d - ys[i + 1])
calka += (es[i]) * h
us.append(kp * es[i + 1] + kd * ((es[i + 1] - es[i]) / h) + ki * calka)
return (times, ys, es, us, (kp, ki, kd))