Struct NyquistPlotter 

pub struct NyquistPlotter<T, U = Hz> { /* private fields */ }

Nyquist plot over [freq_from, freq_to) with step dfreq, all given in U (Hz by default).

Implementations

impl<T, U> NyquistPlotter<T, U>

where T: Float + FloatConst + ToPrimitive + 'static, U: FrequencyUnit,

pub fn new(freq_from: T, freq_to: T, dfreq: T) -> Self

data_len = ceil((freq_to - freq_from) / dfreq) points starting at freq_from, in U.

Examples found in repository

examples/nyquist.rs (line 24)

fn main() {

    let omega = 300.0;

    let kp = 3.0 * omega * omega;
    let kd = 3.0 * omega;
    let ki = omega* omega * omega;

    let iter = 10;
    for i in 0..=iter {
        let alpha = 0.8 + 0.4 / iter as f64 * i as f64;

        let mut storage_n = DataStorage::new(format!("./out/nyquist/nyquist_alpha_{:.02}.csv", alpha)).unwrap();
        let mut storage_b = DataStorage::new(format!("./out/bode/bode_alpha_{:.02}.csv", alpha)).unwrap();

        let plotter_n = NyquistPlotter::<f64>::new(10.0, 2000.0, 0.01);
        let plotter_b = BodeDiagramPlotter::<f64>::new(0.1, 1000.0, 0.01, true);

        let tf_main = TransferFunction::continuous(&[alpha * kd, alpha * kp, alpha * ki], &[1.0, 0.0]);
        let tf_pl = TransferFunction::continuous(&[1.0], &[1.0, 0.0, 0.0]);
        let tf = tf_main * tf_pl;
        {
            let responses = plotter_n.plot(&tf);
            for res in responses {
                storage_n.add(&res).unwrap();
            }
        }
        {
            let responses = plotter_b.frequency_response_s(&tf);
            for res in responses {
                storage_b.add(&res).unwrap();
            }
        }

        storage_n.close().unwrap();
        storage_b.close().unwrap();
    }

}

pub fn plot<G: Into<FrequencyTransferFunction<T>>>( &self, g: G, ) -> Vec<FrequencyResponse<T>>

Calculate the vector locus of a frequency transfer function (or anything convertible into one, such as a continuous TransferFunction). omega of each point is in rad/s regardless of U.

Examples found in repository

examples/nyquist.rs (line 31)

fn main() {

    let omega = 300.0;

    let kp = 3.0 * omega * omega;
    let kd = 3.0 * omega;
    let ki = omega* omega * omega;

    let iter = 10;
    for i in 0..=iter {
        let alpha = 0.8 + 0.4 / iter as f64 * i as f64;

        let mut storage_n = DataStorage::new(format!("./out/nyquist/nyquist_alpha_{:.02}.csv", alpha)).unwrap();
        let mut storage_b = DataStorage::new(format!("./out/bode/bode_alpha_{:.02}.csv", alpha)).unwrap();

        let plotter_n = NyquistPlotter::<f64>::new(10.0, 2000.0, 0.01);
        let plotter_b = BodeDiagramPlotter::<f64>::new(0.1, 1000.0, 0.01, true);

        let tf_main = TransferFunction::continuous(&[alpha * kd, alpha * kp, alpha * ki], &[1.0, 0.0]);
        let tf_pl = TransferFunction::continuous(&[1.0], &[1.0, 0.0, 0.0]);
        let tf = tf_main * tf_pl;
        {
            let responses = plotter_n.plot(&tf);
            for res in responses {
                storage_n.add(&res).unwrap();
            }
        }
        {
            let responses = plotter_b.frequency_response_s(&tf);
            for res in responses {
                storage_b.add(&res).unwrap();
            }
        }

        storage_n.close().unwrap();
        storage_b.close().unwrap();
    }

}