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ME 405
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ME 405
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This file test the behavior of my balancing platform system model. More...
Namespaces | |
| system_modeling | |
Functions | |
| def | system_modeling.plot_plat_sim (sim_time, sim_result, title, fig_size) |
| Th function creates an appropriately formatted system test plot. More... | |
Variables | |
| system_modeling.A = np.asmatrix(np.loadtxt('A.txt',delimiter=',')) | |
| State space system state matrix A. More... | |
| system_modeling.B = np.asmatrix(np.loadtxt('B.txt',delimiter=',')).transpose() | |
| State space system input matrix B. More... | |
| system_modeling.C = np.matrix() | |
| State space system state output matrix C. More... | |
| int | system_modeling.D = 0 |
| State space system input output matrix D. More... | |
| system_modeling.sys = control.StateSpace(A,B,C,D) | |
| State space system object. More... | |
| system_modeling.TA = np.arange(0,1,.001) | |
| Simulation A time vector. More... | |
| list | system_modeling.X0A = [0, 0, 0, 0] |
| Simulation A initial conditions. More... | |
| system_modeling.RA = control.initial_response(sys,TA,X0A) | |
| Simulation A results. More... | |
| system_modeling.TB = np.arange(0,0.4,.001) | |
| Simulation B time vector. More... | |
| list | system_modeling.X0B = [.05, 0, 0, 0] |
| Simulation b initial conditions. More... | |
| system_modeling.RB = control.initial_response(sys,TB,X0B) | |
| Simulation B results. More... | |
| system_modeling.TC = np.arange(0,0.4,.001) | |
| Simulation C time vector. More... | |
| list | system_modeling.X0C = [0.001619, 5*3.14159/180, 0, 0] |
| Simulation C initial conditions. More... | |
| system_modeling.RC = control.initial_response(sys,TC,X0C) | |
| Simulation C results. More... | |
| system_modeling.TD = np.arange(0,0.4,.001) | |
| Simulation D time vector. More... | |
| system_modeling.u0D = np.zeros((1,len(TD))) | |
| Simulation D input signal. More... | |
| list | system_modeling.X0D = [0, 0, 0, 0] |
| Simulation D input signal. More... | |
| system_modeling.RD = control.forced_response(sys,TD,u0D,X0D) | |
| Simulation D results. More... | |
| system_modeling.K = np.matrix() | |
| Closed loop systems gain matrix. More... | |
| system_modeling.A_cl = np.subtract(A,np.matmul(B,K)) | |
| Closed loop state space system state matrix. More... | |
| system_modeling.B_cl = np.matrix() | |
| Closed loop state space system input matrix set to zeros since the system is used as a regulator. More... | |
| system_modeling.sys_cl = control.StateSpace(A_cl,B_cl,C,D) | |
| Closed loop state space system object. More... | |
| system_modeling.TA_cl = np.arange(0,1,.001) | |
| Closed loop simulation A time vector. More... | |
| list | system_modeling.X0A_cl = [0, 0, 0, 0] |
| Closed loop simulation A initial conditions. More... | |
| system_modeling.RA_cl = control.initial_response(sys_cl,TA_cl,X0A_cl) | |
| Closed loop simulation A results. More... | |
| system_modeling.TB_cl = np.arange(0,20,.001) | |
| Closed loop simulation B time. More... | |
| list | system_modeling.X0B_cl = [.05, 0, 0, 0] |
| Closed loop simulation B initial conditions. More... | |
| system_modeling.RB_cl = control.initial_response(sys_cl,TB_cl,X0B_cl) | |
| Closed loop simulation B results. More... | |
| system_modeling.TC_cl = np.arange(0,20,.001) | |
| Closed loop simulation C time. More... | |
| list | system_modeling.X0C_cl = [0.001619, 5*3.14159/180, 0, 0] |
| Closed loop simulation C initial conditions. More... | |
| system_modeling.RC_cl = control.initial_response(sys_cl,TC_cl,X0C_cl) | |
| Closed loop simulation C results. More... | |
This file test the behavior of my balancing platform system model.
This file works alongside a MATLAB live script that computes the open loop state space system matrices for the ME 405 balancing platform term project. It pulls the matrix output of the script from two text files and tests the behavior in open loop and closed loop configuration using the python controls toolbox.
The source code for this file can be found here:
1.8.20