Movatterモバイル変換

[0]ホーム
URL:

Skip to content

Navigation Menu

Sign in
Appearance settings

Search code, repositories, users, issues, pull requests...

Provide feedback

We read every piece of feedback, and take your input very seriously.

Saved searches

Use saved searches to filter your results more quickly

 Sign up
Appearance settings

fix rlocus plotting problem in Jupyter notebooks + comments, PEP8#503

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to ourterms of service andprivacy statement. We’ll occasionally send you account related emails.

Already on GitHub?Sign in to your account

Merged
Merged
Changes fromall commits
Commits
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
108 changes: 82 additions & 26 deletionscontrol/rlocus.py
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -222,6 +222,14 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
ax.set_xlabel('Real')
ax.set_ylabel('Imaginary')

# Set up the limits for the plot
# Note: need to do this before computing grid lines
if xlim:
ax.set_xlim(xlim)
if ylim:
ax.set_ylim(ylim)

# Draw the grid
if grid and sisotool:
if isdtime(sys, strict=True):
zgrid(ax=ax)
Expand All@@ -236,14 +244,9 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
ax.axhline(0., linestyle=':', color='k', zorder=-20)
ax.axvline(0., linestyle=':', color='k', zorder=-20)
if isdtime(sys, strict=True):
ax.add_patch(plt.Circle((0,0), radius=1.0,
linestyle=':', edgecolor='k', linewidth=1.5,
fill=False, zorder=-20))

if xlim:
ax.set_xlim(xlim)
if ylim:
ax.set_ylim(ylim)
ax.add_patch(plt.Circle(
(0, 0), radius=1.0, linestyle=':', edgecolor='k',
linewidth=1.5, fill=False, zorder=-20))

return mymat, kvect

Expand DownExpand Up@@ -642,16 +645,21 @@ def _sgrid_func(fig=None, zeta=None, wn=None):
ax = fig.gca()
else:
ax = fig.axes[1]

# Get locator function for x-axis tick marks
xlocator = ax.get_xaxis().get_major_locator()

# Decide on the location for the labels (?)
ylim = ax.get_ylim()
ytext_pos_lim = ylim[1] - (ylim[1] - ylim[0]) * 0.03
xlim = ax.get_xlim()
xtext_pos_lim = xlim[0] + (xlim[1] - xlim[0]) * 0.0

# Create a list of damping ratios, if needed
if zeta is None:
zeta = _default_zetas(xlim, ylim)

# Figure out the angles for the different damping ratios
angles = []
for z in zeta:
if (z >= 1e-4) and (z <= 1):
Expand All@@ -661,11 +669,8 @@ def _sgrid_func(fig=None, zeta=None, wn=None):
y_over_x = np.tan(angles)

# zeta-constant lines

index = 0

for yp in y_over_x:
ax.plot([0, xlocator()[0]], [0, yp*xlocator()[0]], color='gray',
for index, yp in enumerate(y_over_x):
ax.plot([0, xlocator()[0]], [0, yp * xlocator()[0]], color='gray',
linestyle='dashed', linewidth=0.5)
ax.plot([0, xlocator()[0]], [0, -yp * xlocator()[0]], color='gray',
linestyle='dashed', linewidth=0.5)
Expand All@@ -679,45 +684,96 @@ def _sgrid_func(fig=None, zeta=None, wn=None):
ytext_pos = ytext_pos_lim
ax.annotate(an, textcoords='data', xy=[xtext_pos, ytext_pos],
fontsize=8)
index += 1
ax.plot([0, 0], [ylim[0], ylim[1]],
color='gray', linestyle='dashed', linewidth=0.5)

angles = np.linspace(-90, 90, 20)*np.pi/180
# omega-constant lines
angles = np.linspace(-90, 90, 20) * np.pi/180
if wn is None:
wn = _default_wn(xlocator(), ylim)

for om in wn:
if om < 0:
yp = np.sin(angles)*np.abs(om)
xp = -np.cos(angles)*np.abs(om)
ax.plot(xp, yp, color='gray',
linestyle='dashed', linewidth=0.5)
an = "%.2f" % -om
ax.annotate(an, textcoords='data', xy=[om, 0], fontsize=8)
# Generate the lines for natural frequency curves
yp = np.sin(angles) * np.abs(om)
xp = -np.cos(angles) * np.abs(om)

# Plot the natural frequency contours
ax.plot(xp, yp, color='gray', linestyle='dashed', linewidth=0.5)

# Annotate the natural frequencies by listing on x-axis
# Note: need to filter values for proper plotting in Jupyter
if (om > xlim[0]):
an = "%.2f" % -om
ax.annotate(an, textcoords='data', xy=[om, 0], fontsize=8)


def _default_zetas(xlim, ylim):
"""Return default list of damping coefficients"""
sep1 = -xlim[0]/4
"""Return default list of damping coefficients

This function computes a list of damping coefficients based on the limits
of the graph. A set of 4 damping coefficients are computed for the x-axis
and a set of three damping coefficients are computed for the y-axis
(corresponding to the normal 4:3 plot aspect ratio in `matplotlib`?).

Parameters
----------
xlim : array_like
List of x-axis limits [min, max]
ylim : array_like
List of y-axis limits [min, max]

Returns
-------
zeta : list
List of default damping coefficients for the plot

"""
# Damping coefficient lines that intersect the x-axis
sep1 = -xlim[0] / 4
ang1 = [np.arctan((sep1*i)/ylim[1]) for i in np.arange(1, 4, 1)]

# Damping coefficient lines that intersection the y-axis
sep2 = ylim[1] / 3
ang2 = [np.arctan(-xlim[0]/(ylim[1]-sep2*i)) for i in np.arange(1, 3, 1)]

# Put the lines together and add one at -pi/2 (negative real axis)
angles = np.concatenate((ang1, ang2))
angles = np.insert(angles, len(angles), np.pi/2)

# Return the damping coefficients corresponding to these angles
zeta = np.sin(angles)
return zeta.tolist()


def _default_wn(xloc, ylim):
"""Return default wn for root locus plot"""
"""Return default wn for root locus plot

This function computes a list of natural frequencies based on the grid
parameters of the graph.

Parameters
----------
xloc : array_like
List of x-axis tick values
ylim : array_like
List of y-axis limits [min, max]

Returns
-------
wn : list
List of default natural frequencies for the plot

"""

wn = xloc # one frequency per x-axis tick mark
sep = xloc[1]-xloc[0] # separation between ticks

wn = xloc
sep = xloc[1]-xloc[0]
# Insert additional frequencies to span the y-axis
while np.abs(wn[0]) < ylim[1]:
wn = np.insert(wn, 0, wn[0]-sep)

# If there are too many values, cut them in half
while len(wn) > 7:
wn = wn[0:-1:2]

Expand Down
[8]ページ先頭
©2009-2025 Movatter.jp