Skip to content
Snippets Groups Projects

Compare revisions

Changes are shown as if the source revision was being merged into the target revision. Learn more about comparing revisions.

Source

Select target project
No results found
Select Git revision
  • furuta
  • julia1
  • master
  • v0.1.0
  • v0.2.0
5 results

Target

Select target project
No results found
Select Git revision
  • julia1
  • master
  • v0.1.0
  • v0.2.0
4 results
Show changes

Commits on Source 3

4 files
+ 9
− 9
Compare changes
  • Side-by-side
  • Inline

Files

README.md

+1 −1
Original line number Diff line number Diff line 
## News

2018-12-07: Update to julia v1.0 is ongoing, check branch `julia1`

2018-12-07: Updated to julia v1.0, see commit eac09291 for last julia v0.6 version



[![pipeline status](https://gitlab.control.lth.se/processes/LabProcesses.jl/badges/master/pipeline.svg)](https://gitlab.control.lth.se/processes/LabProcesses.jl/commits/master)

[![coverage report](https://gitlab.control.lth.se/processes/LabProcesses.jl/badges/master/coverage.svg)](https://gitlab.control.lth.se/processes/LabProcesses.jl/commits/master)

src/LabProcesses.jl

+1 −1
Original line number Diff line number Diff line
@@ -9,7 +9,7 @@ end 


module LabProcesses



using ControlSystems, LabConnections.Computer, Parameters, DSP

using ControlSystems, LabConnections.Computer, Parameters, DSP, LinearAlgebra



include("utilities.jl")

src/controllers.jl

+4 −4
Original line number Diff line number Diff line
@@ -27,16 +27,16 @@ function run_control_2DOF(P::AbstractProcess,sysFB, sysFF=nothing; duration = 10 
		rf = sysFF == nothing ? r[:,i] : Gff(r[:,i])

		e  = rf-y[:,i]

		ui = Gfb(e)

		ui + bias(P)

		ui .+ bias(P)

	end



	simulation = isa(P, SimulatedProcess)

	initialize(P)

	for (i,t) = enumerate(0:h:duration)

		@periodically h simulation begin

			y[:,i]     = measure(P)

			r[:,i]     = reference(t)

			u[:,i]     = calc_control(i) # y,r must be updated before u

			y[:,i]    .= measure(P)

			r[:,i]    .= reference(t)

			u[:,i]    .= calc_control(i) # y,r must be updated before u

			control(P, [clamp.(u[j,i], inputrange(P)[j]...) for j=1:nu])

		end

	end

src/interface_implementations/ballandbeam.jl

+3 −3
Original line number Diff line number Diff line
@@ -48,7 +48,7 @@ const beam_system, nice_beam_controller = define_beam_system() 
struct BeamSimulator <: SimulatedProcess

    h::Float64

    s::SysFilter

    BeamSimulator(;h::Real = 0.01) = new(Float64(h), SysFilter(beam_system, h))

    BeamSimulator(;h::Real = 0.01, bias=0) = new(Float64(h), SysFilter(beam_system, h))

end



struct BallAndBeam <: PhysicalProcess
@@ -96,7 +96,7 @@ bias(p::BallAndBeamSimulator) = 0 


function control(p::AbstractBeamOrBallAndBeam, u::AbstractArray)

    length(u) == 1 || error("Process $(typeof(p)) only accepts one control signal, tried to send u=$u.")

    send(p.control,u[1])

    control(p,u[1])

end

control(p::AbstractBeamOrBallAndBeam, u::Number) = send(p.control,u)

control(p::BeamSimulator, u::Number)             = p.s(u)
@@ -104,7 +104,7 @@ control(p::BallAndBeamSimulator, u::Number) = error("Not yet implemented") 


measure(p::Beam)                         = read(p.measure)

measure(p::BallAndBeam)                  = [read(p.measure1), read(p.measure2)]

measure(p::BeamSimulator)                = vecdot(p.s.sys.C,p.s.state)

measure(p::BeamSimulator)                = dot(p.s.sys.C,p.s.state)

measure(p::BallAndBeamSimulator)         = error("Not yet implemented")