2024.4.3 controlとfreqsの比較

code:p01.py

from scipy import signal

import numpy as np

import matplotlib.pyplot as plt

import control as ct

import control.matlab as ctmt

omega_span = np.logspace(-2, 4, 1000)

T = 0.1

K = 1

omega1, y1 = signal.freqs(K, T, 1, worN=omega_span)

g2 = ct.tf(K, T, 1)

y2, phase2, omega2 = ctmt.bode(g2, omega_span)

plt.clf()

plt.subplot(211)

plt.semilogx(omega1, 20*np.log10(abs(y1)), label='by scipy')

plt.grid()

plt.legend()

plt.subplot(212)

plt.semilogx(omega2, 20*np.log10(abs(y2)), label='by ct')

plt.grid()

plt.legend()

plt.show()

https://scrapbox.io/files/660cfcfa4a971c00237c463a.png

二次遅れ系の場合

code:p02.py

from scipy import signal

import numpy as np

import matplotlib.pyplot as plt

import control as ct

import control.matlab as ctmt

omega_span = np.logspace(-2, 4, 1000)

omg_n = 1

zeta = 0.01

K = 1

omega1, y1 = signal.freqs(K, 1, 2*zeta*omg_n, omg_n**2, worN=omega_span)

y2, phase2, omega2 = ctmt.bode(g2, omega_span)

plt.clf()

plt.subplot(211)

plt.semilogx(omega1, 20*np.log10(abs(y1)), label='by scipy')

plt.grid()

plt.legend()

plt.subplot(212)

plt.semilogx(omega2, 20*np.log10(abs(y2)), label='by ct')

plt.grid()

plt.legend()

plt.show()

https://scrapbox.io/files/660cffd16e7a490024dcc9b2.png