{ "cells": [ { "cell_type": "code", "execution_count": 25, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "import matplotlib.pyplot as plt\n", "import numpy as np\n", "from scipy.signal import lsim\n", "import control as ctl\n", "from control import (TransferFunction, bode_plot)\n", "\n", "\n", "y0 = [0]\n", "Kb = 1\n", "# malha aberta\n", "L = TransferFunction(1, [1/25,2/5,1,0]) \n", "\n", "t_ = np.linspace(0, 10, 1001)\n", "u_ = step_input = t_>0\n", "# Diagram de Bode\n", "plt.figure(1)\n", "plt.title('Bode plot')\n", "_ = bode_plot(L, dB=True, margins=True)\n", "\n" ] }, { "cell_type": "code", "execution_count": 26, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "1.9952623149688795\n", "0.5011872336272724\n", "Kb 5.011872336272722\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# condição GM 6dB\n", "print(ctl.db2mag(6))\n", "print(1/ctl.db2mag(6))\n", "Kb = 10*(1/ctl.db2mag(6)) \n", "print('Kb',ctl.db2mag(14))\n", "# malha aberta\n", "L_ = TransferFunction(Kb, [1/25,2/5,1,0]) \n", "\n", "# Diagram de Bode\n", "plt.figure(2)\n", "plt.title('Bode plot - ganho 5.012')\n", "_ = bode_plot(L_, dB=True, margins=True)\n", "\n" ] }, { "cell_type": "code", "execution_count": 28, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "w_ = 2.07\n", "Kb = 2.424\n", "\n", "# malha aberta\n", "L_ = TransferFunction(Kb, [1/25,2/5,1,0]) \n", "\n", "# Diagram de Bode\n", "plt.figure(3)\n", "plt.title('Bode plot - ganho 2.424')\n", "_ = bode_plot(L_, dB=True, margins=True)" ] }, { "cell_type": "code", "execution_count": 29, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 29, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "\n", "\n", "# malha aberta\n", "Kb = 5.012\n", "# malha aberta\n", "L_GMok = TransferFunction(Kb, [1/25,2/5,1,0]) \n", "\n", "\n", "Kb = 2.424\n", "L_PMok = TransferFunction(Kb, [1/25,2/5,1,0]) \n", "\n", "# Diagram de Bode\n", "plt.figure(4)\n", "plt.title('Bode plot')\n", "bode_plot(L, label='ganho 1')\n", "bode_plot(L_GMok, label='ganho 5.012')\n", "bode_plot(L_PMok, label='ganho 2.424')\n", "plt.legend([\"ganho 1\", \"ganho 5.012\", \"ganho 2.424\"])\n", "plt.show" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.6" } }, "nbformat": 4, "nbformat_minor": 4 }