Package flanagan.control

Source Code of flanagan.control.Prop

/*      Class Prop
*
*       This class contains the constructor to create an instance of
*       a Proportional gain controller and the methods
*       needed to use this controller in control loops in the time
*       domain, Laplace transform s domain or the z-transform z domain.
*
*       This class is a subclass of the superclass BlackBox.
*
*       Author:  Michael Thomas Flanagan.
*
*       Created: August 2002
*       Updated: 20 April 2003, 3 May 2005, July 2006, 6 April 2008
*
*
*       DOCUMENTATION:
*       See Michael T Flanagan's JAVA library on-line web page:
*       http://www.ee.ucl.ac.uk/~mflanaga/java/Prop.html
*       http://www.ee.ucl.ac.uk/~mflanaga/java/
*
*   Copyright (c) 2002 - 2008  Michael Thomas Flanagan
*
*   PERMISSION TO COPY:
*   Permission to use, copy and modify this software and its documentation for
*   NON-COMMERCIAL purposes is granted, without fee, provided that an acknowledgement
*   to the author, Michael Thomas Flanagan at www.ee.ac.uk/~mflanaga, appears in all copies.
*
*   Dr Michael Thomas Flanagan makes no representations about the suitability
*   or fitness of the software for any or for a particular purpose.
*   Michael Thomas Flanagan shall not be liable for any damages suffered
*   as a result of using, modifying or distributing this software or its derivatives.
*
***************************************************************************************/


package flanagan.control;
import flanagan.complex.Complex;
import flanagan.complex.ComplexPoly;
import flanagan.plot.Plot;
import flanagan.plot.PlotGraph;

public class Prop extends BlackBox{
    private double kp = 1.0D;           //  proportional gain

    // Constructor - unit proportional gain
    public Prop(){
        super("P");
        super.setSnumer(new ComplexPoly(1.0D));
        super.setSdenom(new ComplexPoly(1.0D));
        super.setZtransformMethod(1);
        super.addDeadTimeExtras();
    }

    // Constructor - set P gain
    public Prop(double kp){
        super("P");
        this.kp=kp;
        super.setSnumer(new ComplexPoly(this.kp));
        super.setSdenom(new ComplexPoly(1.0D));
        super.setZtransformMethod(1);
        super.addDeadTimeExtras();
    }

    // Set the proportional gain
    public void setKp(double kp){
        this.kp=kp;
        Complex num = new Complex(this.kp, 0.0D);
        super.sNumer.resetCoeff(0, num);
        super.addDeadTimeExtras();
    }

    // Get the proprtional gain
    public double getKp(){
        return this.kp;
    }

    // Perform z transform using an already set delta T
    public void zTransform(){
        super.zNumerDeg = 0;
        super.zDenomDeg = 0;
        super.zNumer = new ComplexPoly(this.kp);
        super.zDenom = new ComplexPoly(1.0D);
    }

    // Perform z transform setting delta T
    public void zTransform(double deltaT){
        super.deltaT=deltaT;
        zTransform();
    }

    // Plots the time course for a step input
    public void stepInput(double stepMag, double finalTime){

        // Calculate time course outputs
        int n = 50;                             // number of points on plot
        double incrT = finalTime/(double)(n-1); // plotting increment
        double cdata[][] = new double [2][n];   // plotting array

        cdata[0][0]=0.0D;
        for(int i=1; i<n; i++){
            cdata[0][i]=cdata[0][i-1]+incrT;
        }
        double kpterm = this.kp*stepMag;
        for(int i=0; i<n; i++){
            cdata[1][i] = kpterm;
        }
        if(super.deadTime!=0.0D)for(int i=0; i<n; i++)cdata[0][i] += super.deadTime;

        // Plot
        PlotGraph pg = new PlotGraph(cdata);

        pg.setGraphTitle("Step Input Transient:   Step magnitude = "+stepMag);
        pg.setGraphTitle2(this.getName());
        pg.setXaxisLegend("Time");
        pg.setXaxisUnitsName("s");
        pg.setYaxisLegend("Output");
        pg.setPoint(0);
        pg.plot();
    }

    // Plots the time course for a unit step input
    public void stepInput(double finalTime){
        this.stepInput(1.0D, finalTime);
    }

    // Plots the time course for an nth order ramp input (at^n)
    public void rampInput(double rampGradient, int rampOrder, double finalTime){

        if(rampOrder==0){
            // Check if really a step input (rampOrder, n = 0)
            this.stepInput(rampGradient, finalTime);
        }
        else{
            // Calculate time course outputs
            int n = 50;                             // number of points on plot
            double incrT = finalTime/(double)(n-1); // plotting increment
            double cdata[][] = new double [2][n];   // plotting array
            double sum = 0.0D;                      // integration sum

            cdata[0][0]=0.0D;
            cdata[1][0]=0.0D;
            for(int i=1; i<n; i++){
                cdata[0][i]=cdata[0][i-1]+incrT;
                cdata[1][i] = rampGradient*Math.pow(cdata[0][i],rampOrder)*this.kp;
            }
            if(super.deadTime!=0.0D)for(int i=0; i<n; i++)cdata[0][i] += super.deadTime;

            // Plot
            PlotGraph pg = new PlotGraph(cdata);

            pg.setGraphTitle("Ramp (a.t^n) Input Transient:   ramp gradient (a) = "+rampGradient + " ramp order (n) = " + rampOrder);
            pg.setGraphTitle2(this.getName());
            pg.setXaxisLegend("Time");
            pg.setXaxisUnitsName("s");
            pg.setYaxisLegend("Output");
            pg.setPoint(0);
            pg.plot();
        }
    }

    // Plots the time course for an nth order ramp input (t^n)
    public void rampInput(int rampOrder, double finalTime){
        double rampGradient = 1.0D;
        this.rampInput(rampGradient, rampOrder, finalTime);
    }

    // Plots the time course for a first order ramp input (at)
    public void rampInput(double rampGradient, double finalTime){
        int rampOrder = 1;
        this.rampInput(rampGradient, rampOrder, finalTime);
    }

    // Plots the time course for a unit ramp input (t)
    public void rampInput(double finalTime){
        double rampGradient = 1.0D;
        int rampOrder = 1;
        this.rampInput(rampGradient, rampOrder, finalTime);
    }

    //  Get the s-domain output for a given s-value and a given input.
    public Complex getOutputS(Complex sValue, Complex iinput){
        super.sValue=sValue;
        super.inputS=iinput;
        super.outputS=super.inputS.times(this.kp);
        if(super.deadTime!=0.0D)super.outputS = super.outputS.times(Complex.exp(super.sValue.times(-super.deadTime)));
        return super.outputS;
    }

    //  Get the s-domain output for the stored input and  s-value.
    public Complex getOutputS(){
        super.outputS=super.inputS.times(this.kp);
        if(super.deadTime!=0.0D)super.outputS = super.outputS.times(Complex.exp(super.sValue.times(-super.deadTime)));
        return super.outputS;
    }


    //  Calculate the current time domain output for a given input and given time
    //  resets deltaT
    public void calcOutputT(double ttime, double inp){
        if(ttime<=time[this.sampLen-1])throw new IllegalArgumentException("Current time equals or is less than previous time");
        super.deltaT = ttime - super.time[this.sampLen-1];
        super.sampFreq = 1.0D/super.deltaT;
        super.deadTimeWarning("calcOutputT(time, input)");
        for(int i=0; i<super.sampLen-2; i++){
            super.time[i]=super.time[i+1];
            super.inputT[i]=super.inputT[i+1];
            super.outputT[i]=super.outputT[i+1];
        }
        super.time[super.sampLen-1]=ttime;
        super.inputT[super.sampLen-1]=inp;
        super.outputT[super.sampLen-1]=Double.NaN;
        this.calcOutputT();
    }

    //  Get the output for the stored sampled input and time.
    public void calcOutputT(){
        // proportional term
        super.outputT[super.sampLen-1] = this.kp*super.inputT[super.sampLen-1];
    }

    // Get the s-domain zeros
    public Complex[] getZerosS(){
        System.out.println("Proportional gain controller has no s-domain zeros");
        return null;
    }

    // Get the s-domain poles
    public Complex[] getPolesS(){
        System.out.println("Proportional gain controller has no s-domain poles");
        return null;
    }


    // Deep copy
    public Prop copy(){
        if(this==null){
            return null;
        }
        else{
            Prop bb = new Prop();

            bb.kp = this.kp;

            bb.sampLen = this.sampLen;
            bb.inputT = this.inputT.clone();
            bb.outputT = this.outputT.clone();
            bb.time = this.time.clone();
            bb.forgetFactor = this.forgetFactor;
            bb.deltaT = this.deltaT;
            bb.sampFreq = this.sampFreq;
            bb.inputS = this.inputS.copy();
            bb.outputS = this.outputS.copy();
            bb.sValue = this.sValue.copy();
            bb.zValue = this.zValue.copy();
            bb.sNumer = this.sNumer.copy();
            bb.sDenom = this.sDenom.copy();
            bb.zNumer = this.zNumer.copy();
            bb.zDenom = this.zDenom.copy();
            bb.sPoles = Complex.copy(this.sPoles);
            bb.sZeros = Complex.copy(this.sZeros);
            bb.zPoles = Complex.copy(this.zPoles);
            bb.zZeros = Complex.copy(this.zZeros);
            bb.sNumerDeg = this.sNumerDeg;
            bb.sDenomDeg = this.sDenomDeg;
            bb.zNumerDeg = this.zNumerDeg;
            bb.zDenomDeg = this.zDenomDeg;
            bb.deadTime = this.deadTime;
            bb.orderPade = this.orderPade;
            bb.sNumerPade = this.sNumerPade.copy();
            bb.sDenomPade = this.sDenomPade.copy();
            bb.sPolesPade = Complex.copy(this.sPolesPade);
            bb.sZerosPade = Complex.copy(this.sZerosPade);
            bb.sNumerDegPade = this.sNumerDegPade;
            bb.sDenomDegPade = this.sDenomDegPade;
            bb.maptozero = this.maptozero;
            bb.padeAdded = this.padeAdded;
            bb.integrationSum = this.integrationSum;
            bb.integMethod = this.integMethod;
            bb.ztransMethod = this.ztransMethod;
            bb.name = this.name;
            bb.fixedName = this.fixedName;
            bb.nPlotPoints = this.nPlotPoints;

            return bb;
        }
    }


    // Clone - overrides Java.Object method clone
    public Object clone(){
        Object ret = null;

        if(this!=null){
            Prop bb = new Prop();

            bb.kp = this.kp;

            bb.sampLen = this.sampLen;
            bb.inputT = this.inputT.clone();
            bb.outputT = this.outputT.clone();
            bb.time = this.time.clone();
            bb.forgetFactor = this.forgetFactor;
            bb.deltaT = this.deltaT;
            bb.sampFreq = this.sampFreq;
            bb.inputS = this.inputS.copy();
            bb.outputS = this.outputS.copy();
            bb.sValue = this.sValue.copy();
            bb.zValue = this.zValue.copy();
            bb.sNumer = this.sNumer.copy();
            bb.sDenom = this.sDenom.copy();
            bb.zNumer = this.zNumer.copy();
            bb.zDenom = this.zDenom.copy();
            bb.sPoles = Complex.copy(this.sPoles);
            bb.sZeros = Complex.copy(this.sZeros);
            bb.zPoles = Complex.copy(this.zPoles);
            bb.zZeros = Complex.copy(this.zZeros);
            bb.sNumerDeg = this.sNumerDeg;
            bb.sDenomDeg = this.sDenomDeg;
            bb.zNumerDeg = this.zNumerDeg;
            bb.zDenomDeg = this.zDenomDeg;
            bb.deadTime = this.deadTime;
            bb.orderPade = this.orderPade;
            bb.sNumerPade = this.sNumerPade.copy();
            bb.sDenomPade = this.sDenomPade.copy();
            bb.sPolesPade = Complex.copy(this.sPolesPade);
            bb.sZerosPade = Complex.copy(this.sZerosPade);
            bb.sNumerDegPade = this.sNumerDegPade;
            bb.sDenomDegPade = this.sDenomDegPade;
            bb.maptozero = this.maptozero;
            bb.padeAdded = this.padeAdded;
            bb.integrationSum = this.integrationSum;
            bb.integMethod = this.integMethod;
            bb.ztransMethod = this.ztransMethod;
            bb.name = this.name;
            bb.fixedName = this.fixedName;
            bb.nPlotPoints = this.nPlotPoints;

            ret = (Object) bb;
        }
        return ret;
    }
}


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