mirror of
https://github.com/gabrielkheisa/control-system.git
synced 2024-11-23 20:03:22 +07:00
51 lines
2.2 KiB
Markdown
51 lines
2.2 KiB
Markdown
# routh_table
|
|
This repo is belong to Control System class contains with Automated Routh Table Calculator based on Python. This code 100% original made by my hand :), please leave some notes if you're going to use it. Thanks!
|
|
|
|
## Libraries
|
|
Libraries that used in this program is ```numpy``` and ```pandas```. ```numpy``` works by define and perform array while ```pandas``` is the final form after ```numpy.array``` to simplify the presentation. They imported by write
|
|
```
|
|
import numpy as np
|
|
import pandas as pd
|
|
```
|
|
|
|
## RouthStability Class
|
|
This class contains lots of procedures to simplify our Routh Stability Table Generator process.
|
|
```
|
|
def __init__(self, den):
|
|
self.den = np.array([float(item) for item in den.split()])
|
|
self.deg = len(self.den)
|
|
```
|
|
The constructor ```__init__``` takes string of coefficiens from polynomial, extract the number, and load into class variable. It also define ```self.deg``` variable to save array's length, reducing number of calling ```len()``` function
|
|
|
|
```
|
|
def set_k(self, k):
|
|
self.den = np.append(self.den, float(k))
|
|
self.deg += 1
|
|
```
|
|
This function only takes one number from user and append it to ```self.den``` which defined as gain (constant). Also ```self.deg``` will increase by one
|
|
|
|
```
|
|
def calc_routh(self):
|
|
height = (self.deg+1)//2
|
|
arr = np.zeros((height + 2,height))
|
|
for index in range(self.deg):
|
|
if index % 2 == 0:
|
|
arr[0][index//2] = self.den[index]
|
|
else:
|
|
arr[1][(index-1)//2] = self.den[index]
|
|
|
|
for i in range(2, height+2):
|
|
for j in range(height-1):
|
|
arr[i][j] = (arr[i-1][0]*arr[i-2][j+1] - arr[i-2][0]*arr[i-1][j+1])//2
|
|
arr[i][j] += 0
|
|
|
|
self.df = pd.DataFrame(arr)
|
|
self.show_tab()
|
|
if self.is_stable() == True:
|
|
print("SYSTEM IS STABLE")
|
|
else:
|
|
print("SYSTEM IS UNSTABLE")
|
|
```
|
|
```calc_routh(self)``` as the core process of this class contains initialization and process about Routh Stability Process. Firstly, it define an empty zero (basically it filled with zeros) and iteratively being inserted by ```self.den``` (refering to Routh Table principle). After that, each cell will be updated by calculating Routh Table formula
|
|
$$ arr_{i,j} = \frac{arr_{i-1][0]*arr[i-2][j+1] - arr[i-2][0]*arr[i-1][j+1]}{arr_{i-1][0]} $$
|