From 0d2dcd6a6e10a512be208c2d7a0de6120b9ee0f7 Mon Sep 17 00:00:00 2001
From: Albin Heimerson <albin.heimerson@control.lth.se>
Date: Tue, 10 Jan 2023 15:01:30 +0100
Subject: [PATCH] Add delay and gain to the TFs
---
src/lib.rs | 27 ++++++++++++++++++---------
src/transfer_functions.rs | 26 ++++++++++++++++++++------
2 files changed, 38 insertions(+), 15 deletions(-)
diff --git a/src/lib.rs b/src/lib.rs
index 450dedf..caef9aa 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -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"));
}
};
}
diff --git a/src/transfer_functions.rs b/src/transfer_functions.rs
index 4cf45f9..7ee69e8 100644
--- a/src/transfer_functions.rs
+++ b/src/transfer_functions.rs
@@ -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 {
--
GitLab