control_systems_torbox 0.2.1

Control systems toolbox
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60

use control_systems_torbox::{
    BodePlot, BodePlotData, BodePlotOptions, Continuous, FrequencyResponse,
    NyquistPlot, NyquistPlotData, NyquistPlotOptions, Plot, Tf,
};

fn get_nominal_model() -> Tf<f64, Continuous> {
    let j_el = 0.38;

    let a1 = 0.167;
    let damp1 = 0.025;
    let freq1 = 754.0;
    let a2 = 0.615;
    let damp2 = 0.032;
    let freq2 = 1073.0;
    let time_delay = 2.5e-3;

    let res1 = a1 * Tf::s().powi(2)
        / (Tf::s().powi(2) + 2. * damp1 * freq1 * Tf::s() + freq1.powi(2));
    let res2 = a2 * Tf::s().powi(2)
        / (Tf::s().powi(2) + 2. * damp2 * freq2 * Tf::s() + freq2.powi(2));

    let mut model = (1.0 / j_el + res1 + res2) * 1.0 / Tf::s();
    model *= Tf::pade(time_delay, 3);

    model
}
fn main() {
    let plant = get_nominal_model();
    // PID controller
    let controller =
        Tf::new(&[10. * 10. * 10., 10. * 10., 10.], &[0., 0., 1.0]);
    let sys_tf = controller.series(plant);
    // let sys_tf = get_nominal_model();

    let sys_ss = sys_tf.to_ss().unwrap();

    let mut bode_plot = BodePlot::new(BodePlotOptions::default());
    let mut ss_data: BodePlotData = sys_ss.bode(6.0, 6.0 * 500.0).into();
    ss_data = ss_data.set_name("Ss");
    bode_plot.add_system(ss_data);

    let mut tf_data: BodePlotData = sys_tf.bode(6.0, 6.0 * 500.0).into();
    tf_data = tf_data.set_name("Tf");
    bode_plot.add_system(tf_data);

    bode_plot.show(600, 400, "Test").unwrap();

    let mut nyq_plot = NyquistPlot::new(NyquistPlotOptions::default());
    let mut ss_data: NyquistPlotData =
        sys_ss.nyquist(6.0 * 1., 6.0 * 1000.0).into();
    ss_data = ss_data.set_name("Ss");
    nyq_plot.add_system(ss_data);

    let mut tf_data: NyquistPlotData =
        sys_tf.nyquist(6.0 * 1., 6.0 * 1000.0).into();
    tf_data = tf_data.set_name("Tf");
    nyq_plot.add_system(tf_data);

    nyq_plot.show(400, 400, "Test").unwrap();
}