equal
deleted
inserted
replaced
|
1 #!/usr/bin/python |
|
2 # 7.6 |
|
3 import os, sys |
|
4 sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"] |
|
5 |
|
6 # Continuous time antenna model |
|
7 |
|
8 import pylab as pl |
|
9 from scipy import signal |
|
10 from dscr import dscr |
|
11 |
|
12 a = 0.1 |
|
13 F = pl.array([[0, 1],[0, -a]]) |
|
14 g = pl.array([[0],[a]]) |
|
15 c = pl.array([1, 0]) |
|
16 d = 0 |
|
17 Ga = signal.lti(F,g,c,d) |
|
18 num,den = Ga.num, Ga.den |
|
19 Ts = 0.2 |
|
20 G = dscr(Ga,Ts) |
|
21 |
|
22 #lead controller |
|
23 beta1 = 0.8 |
|
24 N = pl.array([1, -0.9802])*(1-beta1)/(1-0.9802) |
|
25 Rc = pl.array([1, -beta1]) |
|
26 |
|
27 # // simulation parameters using g_s_cl2.cos |
|
28 # gamm = 1; Sc = 1; Tc = 1; C = 0; D = 1; |
|
29 # st = 1; st1 = 0; |
|
30 # t_init = 0; t_final = 20; |
|
31 |
|
32 # // u1: -4 to 11 |
|
33 # // y1: 0 to 1.4 |
|
34 |
|
35 # [Tcp1,Tcp2] = cosfil_ip(Tc,1); // Tc/1 |
|
36 # [Np,Rcp] = cosfil_ip(N,Rc); // N/Rc |
|
37 # [Scp1,Scp2] = cosfil_ip(Sc,1); // Sc/1 |
|
38 # [Cp,Dp] = cosfil_ip(C,D); // C/D |