diff --git a/Cargo.lock b/Cargo.lock
index 9d2bfc08a53f8e5dfae5653d332412845e63a20d..db5a54851abd3e7554daeeea89a558b25af1cdf9 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4,9 +4,9 @@ version = 3
[[package]]
name = "ab_glyph"
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+version = "0.2.21"
source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"owned_ttf_parser",
@@ -24,17 +24,11 @@ version = "1.0.2"
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checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
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-
[[package]]
name = "ahash"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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@@ -134,7 +128,7 @@ checksum = "1b9e1f5fa78f69496407a27ae9ed989e3c3b072310286f5ef385525e4cbc24a9"
dependencies = [
"proc-macro2",
"quote",
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+ "syn 1.0.109",
]
[[package]]
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[[package]]
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@@ -378,7 +372,7 @@ dependencies = [
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+ "syn 1.0.109",
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[[package]]
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+ "syn 1.0.109",
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[[package]]
@@ -544,6 +529,25 @@ dependencies = [
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+[[package]]
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+checksum = "d329bdeac514ee06249dabc27877490f17f5d371ec693360768b838e19f3ae10"
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+ "crc32fast",
+ "miniz_oxide",
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+
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@@ -571,13 +575,13 @@ dependencies = [
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"proc-macro2",
"quote",
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+ "syn 2.0.18",
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@@ -887,11 +891,12 @@ checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
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dependencies = [
"adler",
+ "simd-adler32",
]
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@@ -980,7 +985,7 @@ dependencies = [
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"proc-macro2",
"quote",
- "syn",
+ "syn 1.0.109",
]
[[package]]
@@ -1060,7 +1065,7 @@ dependencies = [
"proc-macro-crate",
"proc-macro2",
"quote",
- "syn",
+ "syn 1.0.109",
]
[[package]]
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@@ -1159,13 +1164,14 @@ checksum = "1df8c4ec4b0627e53bdf214615ad287367e482558cf84b109250b37464dc03ae"
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dependencies = [
"bitflags",
"crc32fast",
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+ "fdeflate",
+ "flate2",
"miniz_oxide",
]
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name = "proc-macro2"
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dependencies = [
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@@ -1257,9 +1263,9 @@ checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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@@ -1281,7 +1287,7 @@ checksum = "d3d8e8de557aee63c26b85b947f5e59b690d0454c753f3adeb5cd7835ab88391"
dependencies = [
"proc-macro2",
"quote",
- "syn",
+ "syn 1.0.109",
]
[[package]]
@@ -1324,6 +1330,12 @@ dependencies = [
"libc",
]
+[[package]]
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+version = "0.3.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "238abfbb77c1915110ad968465608b68e869e0772622c9656714e73e5a1a522f"
+
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name = "slotmap"
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@@ -1382,9 +1394,20 @@ checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
[[package]]
name = "syn"
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+dependencies = [
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+ "quote",
+ "unicode-ident",
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+ "syn 2.0.18",
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[[package]]
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+ "syn 2.0.18",
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"libc",
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+ "nix 0.24.2",
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+ "nix 0.24.2",
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dependencies = [
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@@ -1741,9 +1764,9 @@ dependencies = [
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source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9341df79a8975679188e37dab3889bfa57c44ac2cb6da166f519a81cbe452d4"
+checksum = "be12ce1a3c39ec7dba25594b97b42cb3195d54953ddb9d3d95a7c3902bc6e9d4"
dependencies = [
"dlib",
"lazy_static",
@@ -1763,9 +1786,9 @@ dependencies = [
[[package]]
name = "web-sys"
-version = "0.3.59"
+version = "0.3.63"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed055ab27f941423197eb86b2035720b1a3ce40504df082cac2ecc6ed73335a1"
+checksum = "3bdd9ef4e984da1187bf8110c5cf5b845fbc87a23602cdf912386a76fcd3a7c2"
dependencies = [
"js-sys",
"wasm-bindgen",
@@ -1876,9 +1899,9 @@ checksum = "c811ca4a8c853ef420abd8592ba53ddbbac90410fab6903b3e79972a631f7680"
[[package]]
name = "winit"
-version = "0.27.2"
+version = "0.27.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "83a8f3e9d742401efcfe833b8f84960397482ff049cb7bf59a112e14a4be97f7"
+checksum = "bb796d6fbd86b2fd896c9471e6f04d39d750076ebe5680a3958f00f5ab97657c"
dependencies = [
"bitflags",
"cocoa",
diff --git a/LICENSE b/LICENSE
index 1dfd17fa0f0137452521ba4b8d9c081046f8bd40..24d743f1b46865eb7608bd89860ee24741ea930e 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,5 +1,6 @@
MIT License
+Copyright (c) 2023 Albin Heimerson
Copyright (c) 2022 Martin Morin
Permission is hereby granted, free of charge, to any person obtaining a copy
diff --git a/index.html b/index.html
index f43944cb485915e4f14edb2f1ef86c6971be3a6e..8efa824eae12de828fd92ef4ad4a255de45c690c 100644
--- a/index.html
+++ b/index.html
@@ -7,7 +7,7 @@
<head>
<!-- change this to your project name -->
- <title>Control Web Applications</title>
+ <title>Control Applications</title>
<!-- config for our rust wasm binary. go to https://trunkrs.dev/assets/#rust for more customization -->
<link data-trunk rel="rust" data-wasm-opt="2" />
diff --git a/src/lib.rs b/src/lib.rs
index 4cca943a85d85bafcc8c4d5395a728f787213cb5..4ec9fe450c45770aa79bcddb1621daca777541ef 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -20,12 +20,17 @@ trait CentralApp {
impl eframe::App for ControlApp {
fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
+ // Set light theme so we don't have to mess with colors for plots
+ ctx.set_visuals(egui::Visuals::light());
+
+ /* Skip draw top panel
egui::TopBottomPanel::top("app_selection_panel").show(ctx, |ui| {
if self.top_bar(ui) {
#[cfg(not(target_arch = "wasm32"))] // no quit on web pages!
_frame.close();
}
});
+ */
egui::CentralPanel::default().show(ctx, |ui| {
ui.centered_and_justified(|ui| {
@@ -115,9 +120,11 @@ mod pole_position_app {
use super::tf_plots;
#[derive(PartialEq, Debug, Clone, Copy)]
- enum Order {
- First,
- Second,
+ enum Systems {
+ FirstOrder,
+ RealSecondOrder,
+ RealSecondOrderAndZero,
+ ComplexSecondOrder,
}
#[derive(PartialEq, Debug, Clone, Copy)]
@@ -130,11 +137,13 @@ mod pole_position_app {
pub struct PolePos {
label: String,
- order: Order,
+ systype: Systems,
display: Display,
- fo: FirstOrderSystem,
- so: SecondOrderSystem,
+ first: FirstOrderSystem,
+ second: RealSecondOrderSystem,
+ second_zero: RealSecondOrderSystemAndZero,
+ complex: ComplexSecondOrderSystem,
pole_drag_offset: Option<(f64, f64)>,
}
@@ -143,28 +152,50 @@ mod pole_position_app {
pub fn new(label: String) -> PolePos {
PolePos {
label,
- order: Order::First,
+ systype: Systems::FirstOrder,
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},
+ first: 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,
+ },
+ second: RealSecondOrderSystem {
+ T1: 1.0, T2: 2.0, 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,
+ },
+ second_zero: RealSecondOrderSystemAndZero {
+ T1: 0.5, T2: 0.75, T_lower: 0.1, T_upper: 500.0,
+ Tz: 1.0, Tz_lower: -10.0, Tz_upper: 10.0,
+ K: 1.0, K_lower: -2.0, K_upper: 2.0,
+ L: 0.0, L_lower: 0.0, L_upper: 5.0,
+ },
+ complex: ComplexSecondOrderSystem {
+ d: 0.7, d_lower: 0.01, d_upper: 1.0,
+ w: 1.0, w_lower: 0.01, w_upper: 10.0,
+ 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,
}
}
fn pole_plot(&mut self, ui: &mut Ui, width: f32, height: f32) {
- let (dragged, pointer_coordinate) = match self.order {
- Order::First =>
- tf_plots::pole_plot(&self.fo, ui, width, height),
- Order::Second =>
- tf_plots::pole_plot(&self.so, ui, width, height),
+ let (dragged, pointer_coordinate) = match self.systype {
+ Systems::FirstOrder => tf_plots::pole_plot(&self.first, ui, width, height),
+ Systems::RealSecondOrder => tf_plots::pole_plot(&self.second, ui, width, height),
+ Systems::RealSecondOrderAndZero => tf_plots::pole_plot(&self.second_zero, ui, width, height),
+ Systems::ComplexSecondOrder => tf_plots::pole_plot(&self.complex, ui, width, height),
};
// Handle dragging
if dragged {
if let Some((re,im)) = pointer_coordinate { // This should never fail
- match self.order {
- Order::First => self.fo.adjust_poles_to(re, im),
- Order::Second => self.so.adjust_poles_to(re, im),
+ match self.systype {
+ Systems::FirstOrder => self.first.adjust_pole_zero(re, im),
+ Systems::RealSecondOrder => self.second.adjust_pole_zero(re, im),
+ Systems::RealSecondOrderAndZero => self.second_zero.adjust_pole_zero(re, im),
+ Systems::ComplexSecondOrder => self.complex.adjust_pole_zero(re, im),
};
}
} else {
@@ -173,27 +204,38 @@ mod pole_position_app {
}
fn step_response_plot(&mut self, ui: &mut Ui, width: f32, height: f32) {
- let (_dragged, _pointer_coordinate) = match self.order {
- Order::First =>
- tf_plots::step_response_plot(&self.fo, ui, width, height),
- Order::Second =>
- tf_plots::step_response_plot(&self.so, ui, width, height),
+ let (_dragged, _pointer_coordinate) = match self.systype {
+ Systems::FirstOrder => tf_plots::step_response_plot(&self.first, ui, width, height),
+ Systems::RealSecondOrder => tf_plots::step_response_plot(&self.second, ui, width, height),
+ Systems::RealSecondOrderAndZero => tf_plots::step_response_plot(&self.second_zero, ui, width, height),
+ Systems::ComplexSecondOrder => tf_plots::step_response_plot(&self.complex, ui, width, height),
};
}
fn bode_plot(&mut self, ui: &mut Ui, width: f32, height: f32) {
- let (_amp_dragged, _amp_pointer, _ph_dragged, _ph_pointer) = match self.order {
- Order::First => tf_plots::bode_plot(&self.fo, ui, width, height),
- Order::Second => tf_plots::bode_plot(&self.so, ui, width, height),
+ let (_amp_dragged, _amp_pointer, _ph_dragged, _ph_pointer) = match self.systype {
+ Systems::FirstOrder => tf_plots::bode_plot(&self.first, ui, width, height),
+ Systems::RealSecondOrder => tf_plots::bode_plot(&self.second, ui, width, height),
+ Systems::RealSecondOrderAndZero => tf_plots::bode_plot(&self.second_zero, ui, width, height),
+ Systems::ComplexSecondOrder => tf_plots::bode_plot(&self.complex, ui, width, height),
};
}
fn order_selection(&mut self, ui: &mut Ui) {
- ui.heading("Select System Order");
- ui.horizontal(|ui| {
- ui.radio_value(&mut self.order, Order::First, "First order");
- ui.radio_value(&mut self.order, Order::Second, "Second order");
- });
+ egui::ComboBox::from_label("System type")
+ .selected_text(match self.systype {
+ Systems::FirstOrder => "First order",
+ Systems::RealSecondOrder => "Second order",
+ Systems::RealSecondOrderAndZero => "Second order with zero",
+ Systems::ComplexSecondOrder => "Second order complex",
+ })
+ .show_ui(ui, |ui| {
+ ui.selectable_value(&mut self.systype, Systems::FirstOrder, "First order");
+ ui.selectable_value(&mut self.systype, Systems::RealSecondOrder, "Second order");
+ ui.selectable_value(&mut self.systype, Systems::RealSecondOrderAndZero, "Second order with zero");
+ ui.selectable_value(&mut self.systype, Systems::ComplexSecondOrder, "Second order complex");
+ }
+ );
}
fn display_selection(&mut self, ui: &mut Ui) {
@@ -205,19 +247,34 @@ 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),
- );
+ match self.systype {
+ Systems::FirstOrder => {
+ ui.heading("G(s) = K * exp(-Ls) / (s*T + 1)");
+ ui.add(egui::Slider::new(&mut self.first.T, self.first.T_lower..=self.first.T_upper).text("T").logarithmic(true));
+ ui.add(egui::Slider::new(&mut self.first.K, self.first.K_lower..=self.first.K_upper).text("K"));
+ ui.add(egui::Slider::new(&mut self.first.L, self.first.L_lower..=self.first.L_upper).text("L"));
}
- Order::Second => {
- ui.heading("G(s) = 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"));
+ Systems::RealSecondOrder => {
+ ui.heading("G(s) = K * exp(-Ls) / ((s*T1 + 1) * (s*T2 + 1))");
+ ui.add(egui::Slider::new(&mut self.second.T1, self.second.T_lower..=self.second.T_upper).text("T1").logarithmic(true));
+ ui.add(egui::Slider::new(&mut self.second.T2, self.second.T_lower..=self.second.T_upper).text("T2").logarithmic(true));
+ ui.add(egui::Slider::new(&mut self.second.K, self.second.K_lower..=self.second.K_upper).text("K"));
+ ui.add(egui::Slider::new(&mut self.second.L, self.second.L_lower..=self.second.L_upper).text("L"));
+ }
+ Systems::RealSecondOrderAndZero => {
+ ui.heading("G(s) = K * exp(-Ls) * (s*Tz-1) / ((s*T1 + 1) * (s*T2 + 1))");
+ ui.add(egui::Slider::new(&mut self.second_zero.T1, self.second_zero.T_lower..=self.second_zero.T_upper).text("T1").logarithmic(true));
+ ui.add(egui::Slider::new(&mut self.second_zero.T2, self.second_zero.T_lower..=self.second_zero.T_upper).text("T2").logarithmic(true));
+ ui.add(egui::Slider::new(&mut self.second_zero.Tz, self.second_zero.Tz_lower..=self.second_zero.Tz_upper).text("Tz"));
+ ui.add(egui::Slider::new(&mut self.second_zero.K, self.second_zero.K_lower..=self.second_zero.K_upper).text("K"));
+ ui.add(egui::Slider::new(&mut self.second_zero.L, self.second_zero.L_lower..=self.second_zero.L_upper).text("L"));
+ }
+ Systems::ComplexSecondOrder => {
+ ui.heading("G(s) = K * exp(-Ls) * ω^2 / (s^2 + 2δωs + ω^2)");
+ ui.add(egui::Slider::new(&mut self.complex.d, self.complex.d_lower..=self.complex.d_upper).text("δ"));
+ ui.add(egui::Slider::new(&mut self.complex.w, self.complex.w_lower..=self.complex.w_upper).text("ω"));
+ ui.add(egui::Slider::new(&mut self.complex.K, self.complex.K_lower..=self.complex.K_upper).text("K"));
+ ui.add(egui::Slider::new(&mut self.complex.L, self.complex.L_lower..=self.complex.L_upper).text("L"));
}
};
}
@@ -333,7 +390,7 @@ mod tf_plots {
let mut plot = Plot::new(title)
.allow_scroll(false)
- .allow_zoom(false)
+ .allow_zoom(true)
.allow_boxed_zoom(false)
.allow_drag(false)
.show_x(false)
@@ -369,18 +426,13 @@ mod tf_plots {
) -> (bool, Option<(f64, f64)>)
{
// Plot params
- let cross_radius = 10.0;
+ let marker_radius = 10.0;
let re_bounds = -3.55..1.1;
let im_bounds = -1.5..1.5;
// Plot points
- let points = tf.poles();
- let data = Points::new(points);
- let unit_circle = Line::new(PlotPoints::from_parametric_callback(
- |t| (t.sin(), t.cos()),
- 0.0..(2.0 * PI),
- 100,
- ));
+ let pole_data = Points::new(tf.poles());
+ let zero_data = Points::new(tf.zeros());
// Plot
plot_show(
@@ -392,11 +444,16 @@ mod tf_plots {
im_bounds,
|plot| plot.data_aspect(1.0),
|plot_ui| {
- plot_ui.line(unit_circle.color(Color32::GRAY));
plot_ui.points(
- data.shape(MarkerShape::Cross)
+ pole_data.shape(MarkerShape::Cross)
+ .color(Color32::BLACK)
+ .radius(marker_radius),
+ );
+ plot_ui.points(
+ zero_data.shape(MarkerShape::Circle)
.color(Color32::BLACK)
- .radius(cross_radius),
+ .radius(marker_radius)
+ .filled(false),
);
},
)
@@ -416,7 +473,7 @@ mod tf_plots {
// Calculate plot bounds
let t_bounds = (0.0 - t_end * pad_ratio)..(t_end + t_end * pad_ratio);
- let y_bounds = (0.0 - pad_ratio)..(1.5 + pad_ratio);
+ let y_bounds = (-0.5 - pad_ratio)..(1.5 + pad_ratio);
// Calc plot data
let step = (t_bounds.end - t_bounds.start) / ((n_samples - 1) as f64);
diff --git a/src/main.rs b/src/main.rs
index 66d23a8afac7de70f0eb7820f132179d1a710eb0..6af0a27c333b35a6bdbeb422596a242f0a10e63f 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -13,7 +13,7 @@ fn main() {
let native_options = eframe::NativeOptions::default();
eframe::run_native(
- "eframe template",
+ "Control Applications",
native_options,
// Box::new(|cc| Box::new(control_web_apps::TemplateApp::new(cc))),
Box::new(|cc| Box::new(control_web_apps::ControlApp::new(cc))),
diff --git a/src/transfer_functions.rs b/src/transfer_functions.rs
index 4cf45f9bc254d09a73d5e3f715a5c1db9fc86d58..091630c4e32d880e180359c2d2ffff33a4ec070a 100644
--- a/src/transfer_functions.rs
+++ b/src/transfer_functions.rs
@@ -5,17 +5,24 @@ pub trait TransferFunction {
fn bode_amplitude(&self, w: f64) -> f64;
fn bode_phase(&self, w: f64) -> f64;
fn poles(&self) -> Vec<[f64; 2]>;
- fn adjust_poles_to(&mut self, re: f64, im: f64);
+ fn zeros(&self) -> Vec<[f64; 2]> { vec![] }
+ fn adjust_pole_zero(&mut self, re: f64, im: f64);
}
#[derive(Debug, Clone, Copy)]
pub struct FirstOrderSystem {
- // first order system 1/(sT + 1)
+ // first order system exp(-sL)*K/(sT + 1)
// 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 +31,8 @@ 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
@@ -32,14 +40,14 @@ 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) {
+ fn adjust_pole_zero(&mut self, re: f64, _im: f64) {
let pole_bound = -1.0/self.T_upper;
if re >= pole_bound {
@@ -53,19 +61,148 @@ impl TransferFunction for FirstOrderSystem {
#[derive(Debug, Clone, Copy)]
-pub struct SecondOrderSystem {
- // second order system w^2/(s^2 + 2dw s + w^2)
+pub struct RealSecondOrderSystem {
+ // double first order system K * exp(-sL) * / ((sT1+1)*(sT2+1))
+ // poles = -1/T_1, -1/T_2
+ // https://www.tutorialspoint.com/control_systems/control_systems_response_first_order.htm
+ pub T1: f64,
+ pub T2: 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 RealSecondOrderSystem {
+ fn poles(&self) -> Vec<[f64; 2]> {
+ vec![[-1.0 / self.T1, 0.0], [-1.0 / self.T2, 0.0]]
+ }
+
+ fn step_response(&self, t: f64) -> f64 {
+ let t = t - self.L;
+ self.K * if t >= 0.0 {
+ 1.0 - (-self.T1 * (-t / self.T1).exp() + self.T2 * (-t / self.T2).exp()) / (self.T2 - self.T1)
+ } else {
+ 0.0
+ }
+ }
+
+ fn bode_amplitude(&self, w: f64) -> f64 {
+ self.K.abs() / (((w * self.T1).powi(2) + 1.0).sqrt() * ((w * self.T2).powi(2) + 1.0).sqrt())
+ }
+
+ fn bode_phase(&self, w: f64) -> f64 {
+ -self.L * w - (w * self.T1).atan() - (w * self.T2).atan()
+ }
+
+ fn adjust_pole_zero(&mut self, re: f64, _im: f64) {
+ let pole_bound = -1.0/self.T_upper;
+ let x1 = -1.0/self.T1;
+ let x2 = -1.0/self.T2;
+
+ let target = if re >= pole_bound {
+ -1.0 / pole_bound
+ } else {
+ -1.0 / re
+ };
+ if (re - x1).abs() < (re - x2).abs() {
+ self.T1 = target;
+ } else {
+ self.T2 = target;
+ }
+ }
+}
+
+
+#[derive(Debug, Clone, Copy)]
+pub struct RealSecondOrderSystemAndZero {
+ // second order system exp(-sL) * K * (sT + 1) * w^2/(s^2 + 2dw s + w^2)
+ // poles = -dw +- w sqrt(d^2 - 1)
+ // https://www.tutorialspoint.com/control_systems/control_systems_response_second_order.htm
+ pub T1: f64,
+ pub T2: f64,
+ pub Tz: f64,
+ pub K: f64,
+ pub L: f64,
+ pub T_lower: f64,
+ pub T_upper: f64,
+ pub Tz_lower: f64,
+ pub Tz_upper: f64,
+ pub K_lower: f64,
+ pub K_upper: f64,
+ pub L_lower: f64,
+ pub L_upper: f64,
+}
+
+impl TransferFunction for RealSecondOrderSystemAndZero {
+ fn poles(&self) -> Vec<[f64; 2]> {
+ vec![[-1.0 / self.T1, 0.0], [-1.0 / self.T2, 0.0]]
+ }
+
+ fn zeros(&self) -> Vec<[f64; 2]> {
+ vec![[-1.0 / self.Tz, 0.0]]
+ }
+
+ fn step_response(&self, t: f64) -> f64 {
+ let t = t - self.L;
+ let (T1, T2, Tz) = (self.T1, self.T2, self.Tz);
+ self.K * if t >= 0.0 {
+ 1.0 - ((Tz - T1) * (-t / T1).exp() + (T2 - Tz) * (-t / T2).exp()) / (T2 - T1)
+ } else {
+ 0.0
+ }
+ }
+
+ fn bode_amplitude(&self, w: f64) -> f64 {
+ self.K.abs() * ((w * self.Tz).powi(2) + 1.0).sqrt() / (((w * self.T1).powi(2) + 1.0).sqrt() * ((w * self.T2).powi(2) + 1.0).sqrt())
+ }
+
+ fn bode_phase(&self, w: f64) -> f64 {
+ -self.L * w + (w * self.Tz).atan() - (w * self.T1).atan() - (w * self.T2).atan()
+ }
+
+ fn adjust_pole_zero(&mut self, re: f64, _im: f64) {
+ let x1 = -1.0/self.T1;
+ let x2 = -1.0/self.T2;
+ let xz = -1.0/self.Tz;
+
+ if (re - xz).abs() < (re - x1).abs() && (re - xz).abs() < (re - x2).abs() {
+ self.Tz = -1.0 / re
+ } else if (re - x1).abs() < (re - x2).abs() {
+ self.T1 = if self.T_upper * re >= -1.0 { self.T_upper } else { -1.0 / re }
+ } else {
+ self.T2 = if self.T_upper * re >= -1.0 { self.T_upper } else { -1.0 / re }
+ }
+ }
+}
+
+
+
+
+#[derive(Debug, Clone, Copy)]
+pub struct ComplexSecondOrderSystem {
+ // second order system exp(-sL) * K * w^2/(s^2 + 2dw s + w^2)
// poles = -dw +- w sqrt(d^2 - 1)
// 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 {
+impl TransferFunction for ComplexSecondOrderSystem {
fn poles(&self) -> Vec<[f64; 2]> {
let (d, w) = (self.d, self.w);
@@ -88,12 +225,13 @@ 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();
@@ -111,23 +249,27 @@ 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 {
- use std::f64::consts::PI;
+ //use std::f64::consts::PI;
- let (d, wp) = (self.d, self.w);
+ //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 {
ph
}
+ */
+
+ -self.L * w + (-2.0*self.d*self.w*w).atan2(self.w.powi(2) - w.powi(2))
}
- fn adjust_poles_to(&mut self, re: f64, im: f64) {
+ fn adjust_pole_zero(&mut self, re: f64, im: f64) {
if re >= 0.0 {
return
}
@@ -135,16 +277,13 @@ impl TransferFunction for SecondOrderSystem {
let mut d_new = self.d;
let w_new;
- if self.d < 1.0 {
- // two complex poles
+ if self.d < 1.0 { // two complex poles
let (re2, im2) = (re.powi(2), im.powi(2));
d_new = (re2/(re2+im2)).sqrt();
w_new = -re/d_new;
- } else if self.d == 1.0 {
+ } else if self.d == 1.0 { // real double pole
w_new = -re;
- // real double pole
- } else {
- // two real poles
+ } else { // two real poles
let d2 = self.d.powi(2);
let fast = -self.d*self.w + self.w*(d2 - 1.0).sqrt();
let slow = -self.d*self.w - self.w*(d2 - 1.0).sqrt();
@@ -162,3 +301,4 @@ impl TransferFunction for SecondOrderSystem {
}
}
}
+