from msolve import *
class ButterworthFilter (Composite):
このクラス内で、必要なプロパティを割り当てることができます。このインスタンス内で、1 ≤ order ≤ 4という範囲のorder（デフォルト値は3）を持つフィルタを作成します。当然ながら、処理対象となる入力信号と結果を戻すための出力信号も必要です。このため、プロパティを持つこのクラスは次のようになります：
from msolve import *
class ButterworthFilter (Composite):
inputSignal = Function()
outputSignal = Function ()
order = Int (3)
from msolve import *
class ButterworthFilter (Composite):
"""The Butterworth filter is a type of signal processing filter designed to have as flat a frequency response as possible in the passband. It is also referred to as a maximally flat magnitude filter and it is generally used to eliminate high frequency content from an input signal. """
inputSignal = Function ()
outputSignal = Function ()
order = Int (3)
#- topology ----------------------------------------------------------------def createChildren (self):
"""This method is called once when the object is created. It is used to define all the 'immutable' properties of the class. The Butterworth filter consists of the following: * A string containing the function expression defining the input signal * A VARIABLE that defines the input signal * A TFSISO that captures the input to output relationship * An ARRAY of type 'X' to hold the internal states of the TFSISO * An ARRAY of type 'Y' to hold the output from TFSISO * An ARRAY of type 'U' to hold the input signal to the TFSISO * A string that defines the function expression to access the output """self.var = Variable (function=self.inputSignal)
x = Array (type="X")
y = Array (type="Y")
u = Array (type="U", size=1, variables=[self.var])
num = [1]
den = [1, 2, 2, 1]
self.tf = Tfsiso (label="Butterworth Filter", x=x, y=y, u=u, numerator=num,
denominator=den)
self.outputSignal = "ARYVAL({id},1)".format(id=y.id)
#- Update Children -----------------------------------------------------------def updateChildren (self):
"""This is called when the property value changes to propagate the change to the child objects """self.var.function = self.inputSignal
if self.order == 1:
self.tf.denominator = [1, 1]
elif self.order == 2:
self.tf.denominator = [1, math.sqrt(2), 1]
elif self.order == 3:
self.tf.denominator = [1, 2, 2, 1]
elif self.order == 4:
self.tf.denominator = [1, 2.6131, 3.4142, 2.6131, 1]
#- validate ----------------------------------------------------------------def validateSelf (self, validator):
validator.checkGe ("order", 1)
validator.checkLe ("order", 4)
"""
Assuming this is file mymodule.py, then this string, being the
first statement in the file, will become the "mymodule" module's
docstring when the file is imported.
"""
class MyClass(object):
"""The class's docstring"""
def my_method(self):
"""The method's docstring"""
def my_function():
"""The function's docstring"""
from msolve import *
################################################################################## LuGre Friction Element######################################################################################################################################class LuGre (Composite):
""" Create a friction force on a translational joint using the LuGre friction model. The LuGre friction force consists of 4 atomic elements: 1. A DIFF defining the bristle deflection 2. A MARKER defining the point of action of the friction force 3. A FORCE defining the friction element 4. A REQUEST capturing the friction force on the block """
joint = Reference (Joint)
vs = Double (1.E-3)
mus = Double (0.3)
mud = Double (0.2)
k0 = Double (1e5)
k1 = Double (math.sqrt(1e5))
k2 = Double (0.4)
#- topology----------------------------------------------------------------def createChildren (self):
"""This is called when the object is created so the children objects """
# The DIFF defining bristle deflection
self.diff = Diff (routine=self.lugre_diff, ic=[0,0])
# The MARKER on which the friction force acts
self.im = Marker ()
# The FORCE defining the friction force
self.friction = Sforce (type="TRANSLATION", actiononly=True,
routine=self.lugre_force)
# The REQUEST capturing the friction force
self.request = Request (type="FORCE", comment="Friction force")
#- Update Children -----------------------------------------------------------def updateChildren (self):
"""This is called when the property value changes to propagate the change to the child objects"""self.friction.i = self.joint.i
self.friction.j = self.joint.j
self.im.setValues (body=self.joint.i.body, qp=self.joint.i.qp, zp=self.joint.i.zp)
self.request.setValues (i=self.im, j=self.joint.j, rm=self.joint.j)
#- validate ----------------------------------------------------------------def validateSelf (self, validator):
validator.checkGe0 ("VS")
validator.checkGe0 ("MUS")
validator.checkGe0 ("MUD")
validator.checkGe0 ("K0")
validator.checkGe0 ("K1")
validator.checkGe0 ("K2")
if self.mud > self.mus:
msg = tr("Mu dynamic({0}) must be <= Mu static ({1})",
self.mud, self.mus)
validator.sendError(msg)
#- Lugre Diff ------------------------------------------------------------def lugre_diff (self, id, time, par, npar, dflag, iflag):
"Diff user function"
i = self.joint.i
j = self.joint.j
vs = self.vs
mus = self.mus
mud = self.mud
k0 = self.k0
z = DIF(self)
v = VZ(i,j,j,j)
N = math.sqrt (FX(i,j,j)**2 + FY(i,j,j)**2)
fs = mus*N
fc = mud*N
p = -(v/vs)**2
g = (fc + (fs - fc) * math .exp(p))/k0
if iflag or math.fabs(g) <1e-8:
return v
else:
return v - math.fabs(v) * z / g
#- friction_force -----------------------------------------------------------def lugre_force (self, id, time, par, npar, dflag, iflag):
"Friction Force user function"
i = self.joint.i
j = self.joint.j
diff = self.diff
k0 = self.k0
k1 = self.k1
k2 = self.k2
v = VZ (i,j,j,j)
z = DIF (diff)
zdot = DIF1 (diff)
F = k0*z + k1*zdot + k2*v
return -F
