-
Notifications
You must be signed in to change notification settings - Fork 414
/
tfvis.py
388 lines (318 loc) · 13.1 KB
/
tfvis.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
#!/usr/bin/python
# needs pmw (in pypi, conda-forge)
# For Python 2, needs future (in conda pypi and "default")
from __future__ import print_function
""" Simple GUI application for visualizing how the poles/zeros of the transfer
function effects the bode, nyquist and step response of a SISO system """
"""Copyright (c) 2011, All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. Neither the name of the project author nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CALTECH
OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.
Author: Vanessa Romero Segovia
Author: Ola Johnsson
Author: Jerker Nordh
"""
import control.matlab
import tkinter
import sys
import Pmw
import matplotlib.pyplot as plt
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
from numpy.lib.polynomial import polymul
from numpy.lib.type_check import real
from numpy.core.multiarray import array
from numpy.core.fromnumeric import size
# from numpy.lib.function_base import logspace
from control.matlab import logspace
from numpy import conj
def make_poly(facts):
""" Create polynomial from factors """
poly = [1]
for factor in facts:
poly = polymul(poly, [1, -factor])
return real(poly)
def coeff_string_check(text):
""" Check so textfield entry is valid string of coeffs. """
try:
[float(a) for a in text.split()]
except:
return Pmw.PARTIAL
return Pmw.OK
class TFInput:
""" Class for handling input of transfer function coeffs."""
def __init__(self, parent):
self.master = parent
self.denominator = []
self.numerator = []
self.numerator_widget = Pmw.EntryField(self.master,
labelpos='w',
label_text='Numerator',
entry_width = 25,
validate=coeff_string_check,
value='1.0 -6.0 12.0')
self.denominator_widget = Pmw.EntryField(self.master,
labelpos='w',
label_text='Denominator',
entry_width = 25,
validate=coeff_string_check,
value='1.0 5.0 14.0 27.0')
self.balloon = Pmw.Balloon(self.master)
try:
self.balloon.bind(self.numerator_widget,
"Numerator coefficients, e.g: 1.0 2.0")
except:
pass
try:
self.balloon.bind(self.denominator_widget,
"Denominator coefficients, e.g: 1.0 3.0 2.0")
except:
pass
widgets = (self.numerator_widget, self.denominator_widget)
for i in range(len(widgets)):
widgets[i].grid(row=i+1, column=0, padx=20, pady=3)
Pmw.alignlabels(widgets)
self.numerator_widget.component('entry').focus_set()
def get_tf(self):
""" Return transfer functions object created from coeffs"""
try:
numerator = (
[float(a) for a in self.numerator_widget.get().split()])
except:
numerator = None
try:
denominator = (
[float(a) for a in self.denominator_widget.get().split()])
except:
denominator = None
try:
if (numerator != None and denominator != None):
tfcn = control.matlab.tf(numerator, denominator)
else:
tfcn = None
except:
tfcn = None
return tfcn
def set_poles(self, poles):
""" Set the poles to the new positions"""
self.denominator = make_poly(poles)
self.denominator_widget.setentry(
' '.join([format(i,'.3g') for i in self.denominator]))
def set_zeros(self, zeros):
""" Set the zeros to the new positions"""
self.numerator = make_poly(zeros)
self.numerator_widget.setentry(
' '.join([format(i,'.3g') for i in self.numerator]))
class Analysis:
""" Main class for GUI visualising transfer functions """
def __init__(self, parent):
"""Creates all widgets"""
self.master = parent
self.move_zero = None
self.index1 = None
self.index2 = None
self.zeros = []
self.poles = []
self.topframe = tkinter.Frame(self.master)
self.topframe.pack(expand=True, fill='both')
self.entries = tkinter.Frame(self.topframe)
self.entries.pack(expand=True, fill='both')
self.figure = tkinter.Frame(self.topframe)
self.figure.pack(expand=True, fill='both')
header = tkinter.Label(self.entries,
text='Define the transfer function:')
header.grid(row=0, column=0, padx=20, pady=7)
self.tfi = TFInput(self.entries)
self.sys = self.tfi.get_tf()
tkinter.Button(self.entries, text='Apply', command=self.apply,
width=9).grid(row=0, column=1, rowspan=3, padx=10, pady=5)
self.f_bode = plt.figure(figsize=(4, 4))
self.f_nyquist = plt.figure(figsize=(4, 4))
self.f_pzmap = plt.figure(figsize=(4, 4))
self.f_step = plt.figure(figsize=(4, 4))
self.canvas_pzmap = FigureCanvasTkAgg(self.f_pzmap,
master=self.figure)
self.canvas_pzmap.draw()
self.canvas_pzmap.get_tk_widget().grid(row=0, column=0,
padx=0, pady=0)
self.canvas_bode = FigureCanvasTkAgg(self.f_bode,
master=self.figure)
self.canvas_bode.draw()
self.canvas_bode.get_tk_widget().grid(row=0, column=1,
padx=0, pady=0)
self.canvas_step = FigureCanvasTkAgg(self.f_step,
master=self.figure)
self.canvas_step.draw()
self.canvas_step.get_tk_widget().grid(row=1, column=0,
padx=0, pady=0)
self.canvas_nyquist = FigureCanvasTkAgg(self.f_nyquist,
master=self.figure)
self.canvas_nyquist.draw()
self.canvas_nyquist.get_tk_widget().grid(row=1, column=1,
padx=0, pady=0)
self.canvas_pzmap.mpl_connect('button_press_event',
self.button_press)
self.canvas_pzmap.mpl_connect('button_release_event',
self.button_release)
self.canvas_pzmap.mpl_connect('motion_notify_event',
self.mouse_move)
self.apply()
def button_press(self, event):
""" Handle button presses, detect if we are going to move
any poles/zeros"""
# find closest pole/zero
if event.xdata != None and event.ydata != None:
new = event.xdata + 1.0j*event.ydata
tzeros = list(abs(self.zeros-new))
tpoles = list(abs(self.poles-new))
if (size(tzeros) > 0):
minz = min(tzeros)
else:
minz = float('inf')
if (size(tpoles) > 0):
minp = min(tpoles)
else:
minp = float('inf')
if (minz < 2 or minp < 2):
if (minz < minp):
# Moving zero(s)
self.index1 = tzeros.index(minz)
self.index2 = list(self.zeros).index(
conj(self.zeros[self.index1]))
self.move_zero = True
else:
# Moving pole(s)
self.index1 = tpoles.index(minp)
self.index2 = list(self.poles).index(
conj(self.poles[self.index1]))
self.move_zero = False
def button_release(self, event):
""" Handle button release, update pole/zero positions,
if the were moved"""
if (self.move_zero == True):
self.tfi.set_zeros(self.zeros)
elif (self.move_zero == False):
self.tfi.set_poles(self.poles)
else:
return
self.move_zero = None
self.index1 = None
self.index2 = None
tfcn = self.tfi.get_tf()
if (tfcn):
self.zeros = tfcn.zero()
self.poles = tfcn.pole()
self.sys = tfcn
self.redraw()
def mouse_move(self, event):
""" Handle mouse movement, redraw pzmap while drag/dropping """
if (self.move_zero != None and
event.xdata != None and
event.ydata != None):
if (self.index1 == self.index2):
# Real pole/zero
new = event.xdata
if (self.move_zero == True):
self.zeros[self.index1] = new
elif (self.move_zero == False):
self.poles[self.index1] = new
else:
# Complex poles/zeros
new = event.xdata + 1.0j*event.ydata
if (self.move_zero == True):
self.zeros[self.index1] = new
self.zeros[self.index2] = conj(new)
elif (self.move_zero == False):
self.poles[self.index1] = new
self.poles[self.index2] = conj(new)
tfcn = None
if (self.move_zero == True):
self.tfi.set_zeros(self.zeros)
tfcn = self.tfi.get_tf()
elif (self.move_zero == False):
self.tfi.set_poles(self.poles)
tfcn = self.tfi.get_tf()
if (tfcn != None):
self.draw_pz(tfcn)
self.canvas_pzmap.draw()
def apply(self):
"""Evaluates the transfer function and produces different plots for
analysis"""
tfcn = self.tfi.get_tf()
if (tfcn):
self.zeros = tfcn.zero()
self.poles = tfcn.pole()
self.sys = tfcn
self.redraw()
def draw_pz(self, tfcn):
"""Draw pzmap"""
self.f_pzmap.clf()
# Make adaptive window size, with min [-10, 10] in range,
# always atleast 25% extra space outside poles/zeros
tmp = list(self.zeros)+list(self.poles)+[8]
val = 1.25*max(abs(array(tmp)))
plt.figure(self.f_pzmap.number)
control.matlab.pzmap(tfcn)
plt.suptitle('Pole-Zero Diagram')
plt.axis([-val, val, -val, val])
def redraw(self):
""" Redraw all diagrams """
self.draw_pz(self.sys)
self.f_bode.clf()
plt.figure(self.f_bode.number)
control.matlab.bode(self.sys, logspace(-2, 2))
plt.suptitle('Bode Diagram')
self.f_nyquist.clf()
plt.figure(self.f_nyquist.number)
control.matlab.nyquist(self.sys, logspace(-2, 2))
plt.suptitle('Nyquist Diagram')
self.f_step.clf()
plt.figure(self.f_step.number)
try:
# Step seems to get intro trouble
# with purely imaginary poles
tvec, yvec = control.matlab.step(self.sys)
plt.plot(tvec.T, yvec)
except:
print("Error plotting step response")
plt.suptitle('Step Response')
self.canvas_pzmap.draw()
self.canvas_bode.draw()
self.canvas_step.draw()
self.canvas_nyquist.draw()
def create_analysis():
""" Create main object """
def handler():
""" Handles WM_DELETE_WINDOW messages """
root.destroy()
sys.exit()
# Launch a GUI for the Analysis module
root = tkinter.Tk()
root.protocol("WM_DELETE_WINDOW", handler)
Pmw.initialise(root)
root.title('Analysis of Linear Systems')
Analysis(root)
root.mainloop()
if __name__ == '__main__':
import os
if 'PYCONTROL_TEST_EXAMPLES' not in os.environ:
create_analysis()