dsmc 0.1.3

Digitalservo Motion Control Library
Documentation 
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use std::f64::consts::PI;

use dsmc::{
    TransferFunction,
    discretize::{bilinear_transform, exact_discretize::{DiscretizedSystem, LiftedDiscretizedSystem}},
    logger::DataStorage,
    signal::Delayer,
    trajectory,
};

#[test]
fn smith() {

    let ts = 1e-4;

    let mut storage = DataStorage::new("./out/smith.csv", ',', false).unwrap();

    let j = 2.0e-4;
    let d = 0.02;

    let plant: TransferFunction<f64> = TransferFunction::<f64>::continuous(&[1.0], &[j, d, 0.0]);
    let mut plant_ssr: DiscretizedSystem<f64> = DiscretizedSystem::from_tf(plant, ts).unwrap();

    let model: TransferFunction<f64> = TransferFunction::<f64>::continuous(&[1.0], &[j * 1.0, d * 1.0, 0.0]);
    // model for disturbance observer
    let mut model_ssr: DiscretizedSystem<f64> = DiscretizedSystem::from_tf(model.clone(), ts).unwrap();
    let model_lifted: LiftedDiscretizedSystem<f64> = model_ssr.clone().try_into().unwrap();

    let over_sampling_rate: usize = 2;

    let plant_delay_time = 0.05;
    let plant_delay_sample = (plant_delay_time / ts).round() as usize;
    let mut plant_delayr = Delayer::<f64>::new(plant_delay_sample);

    let model_delay_time = 0.05;
    let model_delay_sample = (model_delay_time / ts).round() as usize;
    let mut model_delayr_1 = Delayer::<f64>::new(model_delay_sample);

    let g_q = 1000.0;
    let q_filter = TransferFunction::continuous(&[j * g_q * g_q, d * g_q * g_q, 0.0], &[1.0, 2.0 * g_q, g_q * g_q]);
    let mut q_filter = bilinear_transform::DiscretizedSystem::new(q_filter, ts);

    let g_s = 1000.0;
    let kp: f64 = 1200.0;
    let kd: f64 = 2.0 * kp.sqrt();
    let controller = TransferFunction::continuous(&[kp + kd * g_s, kp * g_s], &[1.0, g_s]);
    let mut controller = bilinear_transform::DiscretizedSystem::new(controller, ts * over_sampling_rate as f64);

    // Trajectory
    let rest_tlen = 0.5;
    let move_tlen = 0.5;
    let rest_samples = (rest_tlen / ts).round() as usize;
    let move_samples = (move_tlen / ts).round() as usize;
    let move_distance = 1.0;
    let trajectory_sin = trajectory::sin::generate(move_distance, move_samples);

    let r = {
        let mut r = Vec::<Vec<f64>>::with_capacity(rest_samples * 2 + move_samples);
        for _ in 0..rest_samples {
            let p = vec![0.0, 0.0];
            r.push(p);
        }

        for i in 0..move_samples {
            let p = vec![trajectory_sin[i].s, trajectory_sin[i].v];
            r.push(p);
        }

        for _ in 0..rest_samples {
            let p = vec![move_distance, 0.0];
            r.push(p);
        }

        r
    };

    let u = model_lifted.calculate_ptc_input(r.clone());
    let mut y = 0.0;
    let mut y_est = 0.0;
    let mut y_pred;

    let mut u_ff;
    let mut u_fb = 0.0;
    let mut u_dob;

    let mut dist;

    // Control with Preactuation
    let u_len = u.len() - model_delay_sample;
    for i in 0..u_len {

        let t = ts * i as f64;

        y_pred = r[i][0];

        // multirate controller::feedforward
        u_ff = u[i + model_delay_sample];
        // multirate controller::feedback
        if i % over_sampling_rate == 0 {
            u_fb = j * controller.update(y_pred - y);
        }
        u_dob = q_filter.update(y_est - y);
        let u_actual = u_ff + u_fb + u_dob;

        storage.add(&[t, r[i][0], y, (r[i][0] - y), u_fb]).unwrap();

        dist = 0.02 + 0.00 * (2.0 * PI * 10.0 * t).sin();

        plant_ssr.update(&[u_actual + dist]).unwrap();
        y = plant_delayr.output(plant_ssr.output[0]);

        model_ssr.update(&[u_actual]).unwrap();
        y_est = model_delayr_1.output(model_ssr.output[0]);
    }

    storage.close().unwrap();
}