wip

python/MXTuning.py

@@ -104,9 +104,10 @@ class MXTuning(Tuning):
         num1=np.poly1d([mag1])
         den1 = np.poly1d([T1**2,2*T1*d1,1])
 
-        #reiner integrator: 30Hz=0dB -> k=30*2*pi=180
-        #num1=np.poly1d([120*120])
-        #den1 = np.poly1d([1,0,0])
+
+        #reiner integrator: 19.8Hz=0dB -> k=30*2*pi=180
+        num0=np.poly1d([(19.8*2*np.pi)**2])
+        den0=np.poly1d([1,0,0])
 
 
         #first resonance frequency
@@ -116,8 +117,6 @@ class MXTuning(Tuning):
         T2=1/w2
         num2 = np.poly1d([T2[0]**2,2*T2[0]*d2[0],1])
         den2 = np.poly1d([T2[1]**2,2*T2[1]*d2[1],1])
-        mdl= signal.lti(num2, den2) #num denum
-        #bode(mdl)
 
 
         #current loop 2nd order approx
@@ -131,12 +130,33 @@ class MXTuning(Tuning):
         numc = np.poly1d([1.])
         denc = np.poly1d([Tc**2,2*Tc*dc,1])
 
+
+        #simplified current loop 1st order approx
+        wd=2*np.pi*400. #45deg at 360Hz
+        Td=1/wd
+        numd = np.poly1d([1.])
+        dend = np.poly1d([Td,1])
+
+
         num=num1*num2*numc#*num3
         den=den1*den2*denc#*den3
         mdl= signal.lti(num, den) #num denum
-        print(num)
-        print(den)
-        print(mdl)
+        #print(num);print(den);print(mdl)
+
+        w=np.logspace(0, np.log10(2000), 1000)*2*np.pi
+
+        mdl1c= signal.lti(num1*numc, den1*denc)
+        mdl1d= signal.lti(num1*numd, den1*dend)
+        mdl1=  signal.lti(num1, den1)
+        mdl0=  signal.lti(num0, den0)
+
+        bode(((mdl,'plant'),
+              (mdl1c,'mdl1c'),
+              (mdl1d,'mdl1d'),
+              (mdl1,'mdl1'),
+              (mdl0,'mdl0'),
+              ),w)
+
         d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'numc':numc.coeffs,
            'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'denc':denc.coeffs}
         fn=os.path.join(self.baseDir,'model%d.mat'%mot)
@@ -155,6 +175,12 @@ class MXTuning(Tuning):
         num1=np.poly1d([mag1])
         den1 = np.poly1d([T1**2,2*T1*d1,1])
 
+
+        #reiner integrator: 11.84Hz=0dB -> k=30*2*pi=180
+        num0=np.poly1d([(11.84*2*np.pi)**2])
+        den0=np.poly1d([1,0,0])
+
+
         #resonance frequency
         f2=np.array([55.,61.])
         d2=np.array([.2,.2])#daempfung
@@ -162,8 +188,7 @@ class MXTuning(Tuning):
         T2=1/w2
         num2 = np.poly1d([T2[0]**2,2*T2[0]*d2[0],1])
         den2 = np.poly1d([T2[1]**2,2*T2[1]*d2[1],1])
-        mdl= signal.lti(num2, den2) #num denum
-        #bode(mdl)
+
 
         #resonance frequency
         f3=np.array([128,137])
@@ -172,8 +197,7 @@ class MXTuning(Tuning):
         T3=1/w3
         num3 = np.poly1d([T3[0]**2,2*T3[0]*d3[0],1])
         den3 = np.poly1d([T3[1]**2,2*T3[1]*d3[1],1])
-        #mdl= signal.lti(num3, den3) #num denum
-        #bode(mdl)
+
 
         #resonance frequency
         f4=np.array([410,417])
@@ -182,8 +206,7 @@ class MXTuning(Tuning):
         T4=1/w4
         num4 = np.poly1d([T4[0]**2,2*T4[0]*d4[0],1])
         den4 = np.poly1d([T4[1]**2,2*T4[1]*d4[1],1])
-        #mdl= signal.lti(num3, den3) #num denum
-        #bode(mdl)
+
 
         #resonance frequency
         f5=np.array([230,233])
@@ -205,12 +228,34 @@ class MXTuning(Tuning):
         numc = np.poly1d([1.])
         denc = np.poly1d([Tc**2,2*Tc*dc,1])
 
+
+        #simplified current loop 1st order approx
+        wd=2*np.pi*400. #45deg at 360Hz
+        Td=1/wd
+        numd = np.poly1d([1.])
+        dend = np.poly1d([Td,1])
+
+
         num=num1*num2*num3*num4*num5*numc
         den=den1*den2*den3*den4*den5*denc
         mdl= signal.lti(num, den) #num denum
-        print(num)
-        print(den)
-        print(mdl)
+        #print(num);print(den);print(mdl)
+
+        w=np.logspace(0, np.log10(2000), 1000)*2*np.pi
+
+        mdl1c= signal.lti(num1*numc, den1*denc)
+        mdl1d= signal.lti(num1*numd, den1*dend)
+        mdl1=  signal.lti(num1, den1)
+        mdl0=  signal.lti(num0, den0)
+
+        bode(((mdl,'plant'),
+              (mdl1c,'mdl1c'),
+              (mdl1d,'mdl1d'),
+              (mdl1,'mdl1'),
+              (mdl0,'mdl0'),
+              ),w)
+
+
         d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'num3':num3.coeffs,'num4':num4.coeffs,'num5':num5.coeffs,'numc':numc.coeffs,
            'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'den3':den3.coeffs,'den4':den4.coeffs,'den5':den5.coeffs,'denc':denc.coeffs}
         fn=os.path.join(self.baseDir,'model%d.mat'%mot)
@@ -218,7 +263,7 @@ class MXTuning(Tuning):
         scipy.io.savemat(fn, mdict=d)
         print('save to matlab file:'+fn)
 
-      bode(mdl)
+      #bode(mdl)
       w=np.logspace(0,np.log10(2000),1000)*2*np.pi
       w,mag,phase = signal.bode(mdl,w)
       f=w/(2*np.pi)
@@ -596,21 +641,34 @@ def save_figs(fn):
     #figure.savefig(fn.rsplit('.')[0]+'%d.eps' % i)
 
 
-def bode(mdl):
-  w,mag,phase = signal.bode(mdl,1000)
-  f=w/(2*np.pi)
+def bode(mdlLst,w=1000):
+
+  if not type(mdlLst) in (tuple,list):
+    mdlLst=((mdlLst,''),)
+
   fig = plt.figure()
   ax1 = fig.add_subplot(2, 1, 1)
-  ax1.semilogx(f,mag,'-')  # Bode magnitude plot
-  ax1.yaxis.set_label_text('dB ampl')
-  plt.grid(True)
   ax2 = fig.add_subplot(2, 1, 2, sharex = ax1)
-  ax2.semilogx(f,phase,'-')  # Bode magnitude plot
+  #f=w/(2*np.pi)
+  for mdl,lbl in mdlLst:
+    w_,mag,phase = signal.bode(mdl,w)
+    f_=w_/(2*np.pi)
+    ax1.semilogx(f_, mag, '-')  # Bode magnitude plot
+    ax2.semilogx(f_,phase,'-',label=lbl)  # Bode phase plot
+
+
+  ax1.yaxis.set_label_text('dB ampl')
   ax2.yaxis.set_label_text('phase')
   ax2.xaxis.set_label_text('frequency [Hz]')
-  plt.grid(True)
-  #plt.show()
 
+  ax1.grid(True)
+  ax2.grid(True)
+  if len(mdlLst)>3:
+    ax2.legend(loc='best',ncol=2,prop={'size': 10})
+  else:
+    ax2.legend(loc='best')
+  plt.show(block=False)
+  ax1.set_xlim(f_[0], f_[-1])
 
 if __name__=='__main__':
   from argparse import ArgumentParser,RawDescriptionHelpFormatter