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Albin Heimerson
Interactive model comparison
Commits
0d2dcd6a
Commit
0d2dcd6a
authored
Jan 10, 2023
by
Albin Heimerson
Browse files
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Plain Diff
Add delay and gain to the TFs
parent
42de7b7a
Branches
Branches containing commit
No related tags found
1 merge request
!2
Add functionality for AK
Changes
2
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2 changed files
src/lib.rs
+18
-9
18 additions, 9 deletions
src/lib.rs
src/transfer_functions.rs
+20
-6
20 additions, 6 deletions
src/transfer_functions.rs
with
38 additions
and
15 deletions
src/lib.rs
+
18
−
9
View file @
0d2dcd6a
...
...
@@ -148,8 +148,17 @@ mod pole_position_app {
label
,
order
:
Order
::
First
,
display
:
Display
::
StepResponse
,
fo
:
FirstOrderSystem
{
T
:
1.0
,
T_lower
:
0.1
,
T_upper
:
500.0
},
so
:
SecondOrderSystem
{
d
:
0.5
,
w
:
0.75
,
d_lower
:
0.01
,
d_upper
:
5.0
,
w_lower
:
0.01
,
w_upper
:
5.0
},
fo
:
FirstOrderSystem
{
T
:
1.0
,
T_lower
:
0.1
,
T_upper
:
500.0
,
K
:
1.0
,
K_lower
:
-
2.0
,
K_upper
:
2.0
,
L
:
0.0
,
L_lower
:
0.0
,
L_upper
:
5.0
,
},
so
:
SecondOrderSystem
{
d
:
0.5
,
d_lower
:
0.01
,
d_upper
:
5.0
,
w
:
0.75
,
w_lower
:
0.01
,
w_upper
:
5.0
,
K
:
1.0
,
K_lower
:
-
2.0
,
K_upper
:
2.0
,
L
:
0.0
,
L_lower
:
0.0
,
L_upper
:
5.0
,
},
pole_drag_offset
:
None
,
}
}
...
...
@@ -210,17 +219,17 @@ mod pole_position_app {
fn
parameter_sliders
(
&
mut
self
,
ui
:
&
mut
Ui
)
{
match
self
.order
{
Order
::
First
=>
{
ui
.heading
(
"G(s) = 1/(sT + 1)"
);
ui
.add
(
egui
::
Slider
::
new
(
&
mut
self
.fo.T
,
self
.fo.T_lower
..=
self
.fo.T_upper
)
.text
(
"T"
)
.logarithmic
(
true
),
);
ui
.heading
(
"G(s) = K * exp(-Ls) / (sT + 1)"
);
ui
.add
(
egui
::
Slider
::
new
(
&
mut
self
.fo.T
,
self
.fo.T_lower
..=
self
.fo.T_upper
)
.text
(
"T"
)
.logarithmic
(
true
));
ui
.add
(
egui
::
Slider
::
new
(
&
mut
self
.fo.K
,
self
.fo.K_lower
..=
self
.fo.K_upper
)
.text
(
"K"
));
ui
.add
(
egui
::
Slider
::
new
(
&
mut
self
.fo.L
,
self
.fo.L_lower
..=
self
.fo.L_upper
)
.text
(
"L"
));
}
Order
::
Second
=>
{
ui
.heading
(
"G(s) =
ω^2/
(s^2 + 2δωs + ω^2)"
);
ui
.heading
(
"G(s) =
K * exp(-Ls) * ω^2 /
(s^2 + 2δωs + ω^2)"
);
ui
.add
(
egui
::
Slider
::
new
(
&
mut
self
.so.d
,
self
.so.d_lower
..=
self
.so.d_upper
)
.text
(
"δ"
));
ui
.add
(
egui
::
Slider
::
new
(
&
mut
self
.so.w
,
self
.so.w_lower
..=
self
.so.w_upper
)
.text
(
"ω"
));
ui
.add
(
egui
::
Slider
::
new
(
&
mut
self
.so.K
,
self
.so.K_lower
..=
self
.so.K_upper
)
.text
(
"K"
));
ui
.add
(
egui
::
Slider
::
new
(
&
mut
self
.so.L
,
self
.so.L_lower
..=
self
.so.L_upper
)
.text
(
"L"
));
}
};
}
...
...
This diff is collapsed.
Click to expand it.
src/transfer_functions.rs
+
20
−
6
View file @
0d2dcd6a
...
...
@@ -14,8 +14,14 @@ pub struct FirstOrderSystem {
// pole = -1/T
// https://www.tutorialspoint.com/control_systems/control_systems_response_first_order.htm
pub
T
:
f64
,
pub
K
:
f64
,
pub
L
:
f64
,
pub
T_lower
:
f64
,
pub
T_upper
:
f64
,
pub
K_lower
:
f64
,
pub
K_upper
:
f64
,
pub
L_lower
:
f64
,
pub
L_upper
:
f64
,
}
impl
TransferFunction
for
FirstOrderSystem
{
...
...
@@ -24,7 +30,8 @@ impl TransferFunction for FirstOrderSystem {
}
fn
step_response
(
&
self
,
t
:
f64
)
->
f64
{
if
t
>=
0.0
{
let
t
=
t
-
self
.L
;
self
.K
*
if
t
>=
0.0
{
1.0
-
(
-
t
/
self
.T
)
.exp
()
}
else
{
0.0
...
...
@@ -32,11 +39,11 @@ impl TransferFunction for FirstOrderSystem {
}
fn
bode_amplitude
(
&
self
,
w
:
f64
)
->
f64
{
1.0
/
(((
w
*
self
.T
)
.powi
(
2
)
+
1.0
)
.sqrt
())
self
.K
.abs
()
/
(((
w
*
self
.T
)
.powi
(
2
)
+
1.0
)
.sqrt
())
}
fn
bode_phase
(
&
self
,
w
:
f64
)
->
f64
{
-
(
w
*
self
.T
)
.atan
()
-
self
.L
*
w
-
(
w
*
self
.T
)
.atan
()
}
fn
adjust_poles_to
(
&
mut
self
,
re
:
f64
,
_im
:
f64
)
{
...
...
@@ -59,10 +66,16 @@ pub struct SecondOrderSystem {
// https://www.tutorialspoint.com/control_systems/control_systems_response_second_order.htm
pub
d
:
f64
,
pub
w
:
f64
,
pub
K
:
f64
,
pub
L
:
f64
,
pub
d_lower
:
f64
,
pub
d_upper
:
f64
,
pub
w_lower
:
f64
,
pub
w_upper
:
f64
,
pub
K_lower
:
f64
,
pub
K_upper
:
f64
,
pub
L_lower
:
f64
,
pub
L_upper
:
f64
,
}
impl
TransferFunction
for
SecondOrderSystem
{
...
...
@@ -88,12 +101,13 @@ impl TransferFunction for SecondOrderSystem {
fn
step_response
(
&
self
,
t
:
f64
)
->
f64
{
let
(
d
,
w
)
=
(
self
.d
,
self
.w
);
let
t
=
t
-
self
.L
;
if
t
<
0.0
{
return
0.0
;
}
if
d
==
0.0
{
self
.K
*
if
d
==
0.0
{
1.0
-
(
w
*
t
)
.cos
()
}
else
if
(
0.0
<
d
)
&&
(
d
<
1.0
)
{
let
d_1_sqrt
=
(
1.0
-
d
.powi
(
2
))
.sqrt
();
...
...
@@ -111,7 +125,7 @@ impl TransferFunction for SecondOrderSystem {
fn
bode_amplitude
(
&
self
,
w
:
f64
)
->
f64
{
let
(
d
,
wp
)
=
(
self
.d
,
self
.w
);
wp
.powi
(
2
)
/
(
(
(
wp
.powi
(
2
)
-
w
.powi
(
2
))
.powi
(
2
)
+
(
2f64
*
d
*
wp
*
w
)
.powi
(
2
)
)
.sqrt
()
)
self
.K
.abs
()
*
wp
.powi
(
2
)
/
(
(
(
wp
.powi
(
2
)
-
w
.powi
(
2
))
.powi
(
2
)
+
(
2f64
*
d
*
wp
*
w
)
.powi
(
2
))
.sqrt
())
}
fn
bode_phase
(
&
self
,
w
:
f64
)
->
f64
{
...
...
@@ -119,7 +133,7 @@ impl TransferFunction for SecondOrderSystem {
let
(
d
,
wp
)
=
(
self
.d
,
self
.w
);
let
ph
=
-
(
(
2f64
*
d
*
wp
*
w
)
/
(
wp
.powi
(
2
)
-
w
.powi
(
2
))
)
.atan
();
let
ph
=
-
self
.L
*
w
-
(
2.0
*
d
*
wp
*
w
/
(
wp
.powi
(
2
)
-
w
.powi
(
2
)))
.atan
();
if
ph
>
0.0
{
ph
-
PI
}
else
{
...
...
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