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Commit45f3555

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renamed function to highlight that it is based on root locus, set initial gain to 1, new noplot argument for faster testing
1 parentbf4b479 commit45f3555

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3 files changed

+45
-31
lines changed

3 files changed

+45
-31
lines changed

‎control/rlocus.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -188,7 +188,7 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
188188
zeta=-1*s.real/abs(s)
189189
fig.suptitle(
190190
"Clicked at: %10.4g%+10.4gj gain: %10.4g damp: %10.4g"%
191-
(s.real,s.imag,1,zeta),
191+
(s.real,s.imag,kvect[0],zeta),
192192
fontsize=12ifint(mpl.__version__[0])==1else10)
193193
fig.canvas.mpl_connect(
194194
'button_release_event',

‎control/sisotool.py

Lines changed: 39 additions & 26 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
__all__= ['sisotool','pid_designer']
1+
__all__= ['sisotool','rootlocus_pid_designer']
22

33
fromcontrol.exceptionimportControlMIMONotImplemented
44
from .freqplotimportbode_plot
@@ -180,19 +180,21 @@ def _SisotoolUpdate(sys, fig, K, bode_plot_params, tvect=None):
180180
fig.subplots_adjust(top=0.9,wspace=0.3,hspace=0.35)
181181
fig.canvas.draw()
182182

183-
# contributed by Sawyer Fuller, minster@uw.edu 2021.11.02
184-
defpid_designer(plant,gain='P',sign=+1,input_signal='r',
183+
# contributed by Sawyer Fuller, minster@uw.edu 2021.11.02, based on
184+
# an implementation in Matlab by Martin Berg.
185+
defrootlocus_pid_designer(plant,gain='P',sign=+1,input_signal='r',
185186
Kp0=0,Ki0=0,Kd0=0,tau=0.01,
186-
C_ff=0,derivative_in_feedback_path=False):
187-
"""Manual PID controller design using sisotool
187+
C_ff=0,derivative_in_feedback_path=False,
188+
noplot=False):
189+
"""Manual PID controller design based on root locus using Sisotool
188190
189191
Uses `Sisotool` to investigate the effect of adding or subtracting an
190192
amount `deltaK` to the proportional, integral, or derivative (PID) gains of
191193
a controller. One of the PID gains, `Kp`, `Ki`, or `Kd`, respectively, can
192194
be modified at a time. `Sisotool` plots the step response, frequency
193195
response, and root locus.
194196
195-
When first run, `deltaK` is set to1; click on a branch of the root locus
197+
When first run, `deltaK` is set to0; click on a branch of the root locus
196198
plot to try a different value. Each click updates plots and prints
197199
the corresponding `deltaK`. To tune all three PID gains, repeatedly call
198200
`pid_designer`, and select a different `gain` each time (`'P'`, `'I'`,
@@ -240,13 +242,13 @@ def pid_designer(plant, gain='P', sign=+1, input_signal='r',
240242
plant : :class:`LTI` (:class:`TransferFunction` or :class:`StateSpace` system)
241243
The dynamical system to be controlled
242244
gain : string (optional)
243-
Which gain to vary by deltaK. Must be one of 'P','I', or 'D'
245+
Which gain to vary by`deltaK`. Must be one of`'P'`, `'I'`, or`'D'`
244246
(proportional, integral, or derative)
245247
sign : int (optional)
246248
The sign of deltaK gain perturbation
247249
input : string (optional)
248-
The input used for the step response; must be 'r' (reference) or
249-
'd' (disturbance) (see figure above)
250+
The input used for the step response; must be`'r'` (reference) or
251+
`'d'` (disturbance) (see figure above)
250252
Kp0, Ki0, Kd0 : float (optional)
251253
Initial values for proportional, integral, and derivative gains,
252254
respectively
@@ -257,16 +259,24 @@ def pid_designer(plant, gain='P', sign=+1, input_signal='r',
257259
C_ff : float or :class:`LTI` system (optional)
258260
Feedforward controller. If :class:`LTI`, must have timebase that is
259261
compatible with plant.
262+
derivative_in_feedback_path : bool (optional)
263+
Whether to place the derivative term in feedback transfer function
264+
`C_b` instead of the forward transfer function `C_f`.
265+
noplot : bool (optional)
266+
267+
Returns
268+
----------
269+
closedloop : class:`StateSpace` system
270+
The closed-loop system using initial gains.
260271
"""
261272

262273
plant=_convert_to_statespace(plant)
263274
ifplant.ninputs==1:
264275
plant=ss2io(plant,inputs='u',outputs='y')
265276
elifplant.ninputs==2:
266-
plant=ss2io(plant,inputs=('u','d'),outputs='y')
277+
plant=ss2io(plant,inputs=['u','d'],outputs='y')
267278
else:
268279
raiseValueError("plant must have one or two inputs")
269-
#plant = ss2io(plant, inputs='u', outputs='y')
270280
C_ff=ss2io(_convert_to_statespace(C_ff),inputs='r',outputs='uff')
271281
dt=common_timebase(plant,C_ff)
272282

@@ -277,29 +287,30 @@ def pid_designer(plant, gain='P', sign=+1, input_signal='r',
277287
else:
278288
u_summer=summing_junction(['ufb','uff','d'],'u')
279289

280-
prop=tf(1,1)
281290
ifisctime(plant):
282-
integ=tf(1,[1,0])
291+
prop=tf(1,1)
292+
integ=tf(1, [1,0])
283293
deriv=tf([1,0], [tau,1])
284-
else:
285-
integ=tf([dt/2,dt/2],[1,-1],dt)
286-
deriv=tf([1,-1],[dt,0],dt)
294+
else:# discrete-time
295+
prop=tf(1,1,dt)
296+
integ=tf([dt/2,dt/2], [1,-1],dt)
297+
deriv=tf([1,-1], [dt,0],dt)
287298

288-
# add signal names
299+
# add signal names by turning into iosystems
289300
prop=tf2io(prop,inputs='e',outputs='prop_e')
290301
integ=tf2io(integ,inputs='e',outputs='int_e')
291302
ifderivative_in_feedback_path:
292-
deriv=tf2io(-deriv,inputs='y',outputs='deriv_')
303+
deriv=tf2io(-deriv,inputs='y',outputs='deriv')
293304
else:
294-
deriv=tf2io(deriv,inputs='e',outputs='deriv_')
305+
deriv=tf2io(deriv,inputs='e',outputs='deriv')
295306

296307
# create gain blocks
297308
Kpgain=tf2io(tf(Kp0,1),inputs='prop_e',outputs='ufb')
298309
Kigain=tf2io(tf(Ki0,1),inputs='int_e',outputs='ufb')
299-
Kdgain=tf2io(tf(Kd0,1),inputs='deriv_',outputs='ufb')
310+
Kdgain=tf2io(tf(Kd0,1),inputs='deriv',outputs='ufb')
300311

301-
# for the gain that is varied,create a specialgain block withan
302-
# 'input' and an 'output'signal to create the loop transfer function
312+
# for the gain that is varied,replacegain block witha special block
313+
#that has an'input' and an 'output'that creates loop transfer function
303314
ifgainin ('P','p'):
304315
Kpgain=ss2io(ss([],[],[],[[0,1], [-sign,Kp0]]),
305316
inputs=['input','prop_e'],outputs=['output','ufb'])
@@ -308,13 +319,15 @@ def pid_designer(plant, gain='P', sign=+1, input_signal='r',
308319
inputs=['input','int_e'],outputs=['output','ufb'])
309320
elifgainin ('D','d'):
310321
Kdgain=ss2io(ss([],[],[],[[0,1], [-sign,Kd0]]),
311-
inputs=['input','deriv_'],outputs=['output','ufb'])
322+
inputs=['input','deriv'],outputs=['output','ufb'])
312323
else:
313324
raiseValueError(gain+' gain not recognized.')
314325

315326
# the second input and output are used by sisotool to plot step response
316327
loop=interconnect((plant,Kpgain,Kigain,Kdgain,prop,integ,deriv,
317328
C_ff,e_summer,u_summer),
318-
inplist=['input',input_signal],outlist=['output','y'])
319-
sisotool(loop)
320-
returnloop[1,1]
329+
inplist=['input',input_signal],
330+
outlist=['output','y'])
331+
if~noplot:
332+
sisotool(loop,kvect=(0.,))
333+
return_convert_to_statespace(loop[1,1])

‎control/tests/sisotool_test.py

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
66
fromnumpy.testingimportassert_array_almost_equal
77
importpytest
88

9-
fromcontrol.sisotoolimportsisotool,pid_designer
9+
fromcontrol.sisotoolimportsisotool,rootlocus_pid_designer
1010
fromcontrol.rlocusimport_RLClickDispatcher
1111
fromcontrol.xferfcnimportTransferFunction
1212
fromcontrol.statespimportStateSpace
@@ -151,13 +151,14 @@ def plant(self, request):
151151
'syscont221':StateSpace([[-.3,0],[1,0]],[[-1,],[.1,]], [0,-.3],0)}
152152
returnplants[request.param]
153153

154+
# check
154155
# cont or discrete, vary P I or D
155156
# @pytest.mark.parametrize('plant', (syscont, sysdisc1))
156157
@pytest.mark.parametrize('plant', ('syscont','sysdisc1'),indirect=True)
157158
@pytest.mark.parametrize('gain', ('P','I','D'))
158-
@pytest.mark.parametrize("kwargs", [{'Kp0':0.01},])
159+
@pytest.mark.parametrize("kwargs", [{'Kp0':0.1,'noplot':True},])
159160
deftest_pid_designer_1(self,plant,gain,kwargs):
160-
pid_designer(plant,gain,**kwargs)
161+
rootlocus_pid_designer(plant,gain,**kwargs)
161162

162163
# input from reference or disturbance
163164
@pytest.mark.parametrize('plant', ('syscont','syscont221'),indirect=True)
@@ -166,5 +167,5 @@ def test_pid_designer_1(self, plant, gain, kwargs):
166167
{'input_signal':'r','Kp0':0.01,'derivative_in_feedback_path':True},
167168
{'input_signal':'d','Kp0':0.01,'derivative_in_feedback_path':True},])
168169
deftest_pid_designer_2(self,plant,kwargs):
169-
pid_designer(plant,**kwargs)
170+
rootlocus_pid_designer(plant,**kwargs)
170171

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