def make(Kp=0.015, Ti=1):
controller = ControlDesign.Controller2(Ts=0.01)
controller.addZero(-1 / Ti)
controller.addPole(0)
controller.K = Kp
return controller.tf
def make(F1P=0.16, lead=60):
#lead = 70
controller = ControlDesign.Controller2(Ts=0.01)
w1p = F1P * 2 * np.pi
controller.addPolePair([0.95 * w1p, 2 * w1p], [0.15, 0.1])
controller.addZeroPair([1.56 * w1p, 3 * w1p], [0.1, 0.3])
controller.addLeadCompensator(lead, F1P)
controller.addLeadCompensator(lead, F1P)
mag, phase = controller.freqResp(F1P)
controller.K = 1 / mag
controller.K *= 0.04
return controller.tf
def make(F1P=0.16, lead=77.5):
controller = ControlDesign.Controller2(Ts=0.01)
Omega1P = F1P *2*np.pi
controller.addPolePair(Omega1P, 0.05)
controller.addLeadCompensator(lead, F1P)
controller.addLeadCompensator(lead, F1P)
mag, phase = controller.freqResp(F1P)
controller.K = 1/mag
controller.K *= 0.1
return controller.tf
def make(F1P=0.16, lead=50):
#lead = 70
controller = ControlDesign.Controller2(Ts=0.01)
w1p = F1P *2*np.pi
OmegaTOWER = 0.32 * 2 * np.pi
controller.addPolePair([2.05*w1p], [0.05])
controller.addZeroPair([2.8*w1p], [ 0.7])
controller.addLeadCompensator(lead, 3*F1P)
controller.addLeadCompensator(lead, 3*F1P)
mag, phase = controller.freqResp(2*F1P)
controller.K = 1/mag
controller.K *= 0.05
return controller.tf
def make(F1P=0.125, lead=77.5):
#lead = 70
controller = ControlDesign.Controller2(Ts=0.01)
w1p = F1P * 2 * np.pi
OmegaTOWER = 0.25 * 2 * np.pi
controller.addPolePair([w1p, 2 * w1p], [0.08, 0.04])
controller.addZeroPair([OmegaTOWER, 3 * w1p], [0.1, 0.3])
controller.addLeadCompensator(lead, F1P)
controller.addLeadCompensator(lead, F1P)
mag, phase = controller.freqResp(F1P)
controller.K = 1 / mag
controller.K *= 0.05
print(controller.freqResp(F1P))
return controller.tf