mirror of
https://github.com/gabrielkheisa/control-system.git
synced 2024-11-23 20:03:22 +07:00
131 lines
4.2 KiB
Markdown
131 lines
4.2 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 to 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 to 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. Routh Table defined as ```numpy.ndarray``` and converted to ```pandas.DataFrame``` to simplify the presentation of table. ```self.show_tab()``` is called to print the Routh Table and ```self.is_stable()``` to check system's stability.
|
|
|
|
```
|
|
def show_tab(self):
|
|
print(self.df)
|
|
```
|
|
This function print the Routh Table, should be called only if Routh Table is generated by ```calc_routh```
|
|
|
|
```
|
|
def get_table(self):
|
|
return self.df
|
|
```
|
|
This function return ```pandas.DataFrame``` contained by Routh Table
|
|
|
|
```
|
|
def is_stable(self):
|
|
flag = True
|
|
for item in self.df[0]:
|
|
if item < 0: flag = False
|
|
return flag
|
|
```
|
|
This function check the first column's value from Routh Table. The system is define as stable if and only if all the value is positive, else it's unstable
|
|
|
|
```
|
|
def get_poly(self, x):
|
|
total = 0
|
|
for i in range(self.deg):
|
|
total += self.den[self.deg-i-1]*(x**i)
|
|
print(total)
|
|
return total
|
|
```
|
|
This function initialize ```x``` value as variable on ```self.den``` polynomial and return the total
|
|
|
|
## Testing 1
|
|
The testing can follow below example:
|
|
```
|
|
# First Testing
|
|
den = input("Enter your polynomial: ")
|
|
k_in = input("Enter your K: ")
|
|
|
|
rs = RouthStability(den)
|
|
rs.set_k(k_in)
|
|
rs.calc_routh()
|
|
```
|
|
It takes coefficient of polynomial and K from user, insert it into ```RouthStability``` class as constructor parameter, insert the K value, and generate Routh Table. The result can be found below:
|
|
```
|
|
Enter your polynomial: 1 2 3 4 5
|
|
Enter your K: 6
|
|
0 1 2
|
|
0 1.0 3.0 5.0
|
|
1 2.0 4.0 6.0
|
|
2 1.0 2.0 0.0
|
|
3 0.0 3.0 0.0
|
|
4 -2.0 0.0 0.0
|
|
SYSTEM IS UNSTABLE
|
|
```
|
|
|
|
## Testing 2
|
|
```
|
|
Enter your polynomial: 12 56 37 80
|
|
Enter your K: 17
|
|
0 1 2
|
|
0 12.0 37.0 17.0
|
|
1 56.0 80.0 0.0
|
|
2 556.0 476.0 0.0
|
|
3 8912.0 0.0 0.0
|
|
4 2121056.0 0.0 0.0
|
|
SYSTEM IS STABLE
|
|
```
|
|
|
|
## Testing 3
|
|
```
|
|
Enter your polynomial: 1.2 6.81 7.31
|
|
Enter your K: 3.141
|
|
0 1
|
|
0 1.20 7.310
|
|
1 6.81 3.141
|
|
2 23.00 0.000
|
|
3 36.00 0.000
|
|
SYSTEM IS STABLE
|
|
```
|
|
### Notes
|
|
Contact nanda.r.d@mail.ugm.ac.id for more information |