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Diffstat (limited to 'Master/texmf-dist/doc/latex/circuit-macros/examples/dpv/controlDPV.m4')
-rw-r--r-- | Master/texmf-dist/doc/latex/circuit-macros/examples/dpv/controlDPV.m4 | 224 |
1 files changed, 224 insertions, 0 deletions
diff --git a/Master/texmf-dist/doc/latex/circuit-macros/examples/dpv/controlDPV.m4 b/Master/texmf-dist/doc/latex/circuit-macros/examples/dpv/controlDPV.m4 new file mode 100644 index 00000000000..0a7506585d4 --- /dev/null +++ b/Master/texmf-dist/doc/latex/circuit-macros/examples/dpv/controlDPV.m4 @@ -0,0 +1,224 @@ +.PS +# controlDPV.m4 +gen_init(svg_font(Times,11bp__)) + linewid = linewid*0.8 + circlerad = 0.25/2 + bw = boxwid/2 + bh = boxht/2 + maxpsht = 15 + +# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + +PID: [ + {"svg_it(r(s))" above ljust} + arrow +S1: circle + line right "svg_it(e(s))" above + { arrow right ; box ht bh wid bw "svg_it(K)svg_sub(P)" + arrow right linewid-circlerad ; S2: circle } + { line up linewid ; arrow right ; box ht bh wid bw "svg_it(K)svg_sub(D)s" + line to (S2,Here) ; arrow to S2.n } + { line down linewid ; arrow right ; box ht bh wid bw "svg_it(K)svg_sub(I)/s" + line to (S2,Here) ; arrow to S2.s } + arrow right from S2.e "svg_it(u(s))" above + box "svg_it(G(s))" + arrow right ; "svg_it(y(s))" above rjust at Here+(0,2pt__) + line down boxht*3/2 from last arrow.c then left last arrow.c.x-S1.x + arrow to S1.s + "svg_it(-)" rjust at Here+(-2bp__,-2bp__) +] + "(a) svg_it(PID) control" below ljust at PID.sw+(0,-5pt__) + +# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + +# https://tex.stackexchange.com/questions/575592/how-to-create-a-controls-system-diagram +Observer: [ + define(`thickarrow',`arrow thick 3 wid 7bp__') + define(`thickline',`line thick 3') + fillval = 0.6 + boxwid = 0.3 + boxht = 0.4 + circlerad = 0.1 + {"svg_it(r)" above ljust} +R: arrow +S: circle fill + {"svg_thinsp`'svg_it(-)" below ljust at S.s + "svg_it(+)" above rjust at S.w+(2bp__,0)} +{ PLT: box invis fill 0.9 wid 3.1 ht 1.2 with .nw at Here+(0.3,boxht*3/4) + "svg_it(Plant)" at PLT.sw above ljust } +U: arrow right 0.4 + {"svg_it(u)" at last arrow+(2bp__,0) above } +Bp: box fill "svg_it(B)" + thickarrow right 0.4 +Sp: circle fill + {"svg_thinsp`'svg_it(+)" below ljust at Sp.s + "+" above rjust at Sp.w+(2bp__,2bp__)} + thickarrow right 0.4 + {"svg_bf(x)" at last arrow + (0,7bp__); "." at last "".n +(0,textoffset)} +Ip: box fill "svg_it(I/s)" + thickarrow right 1 + {"svg_bf(x)" at last arrow + (0,7bp__) } +Cp: box fill "svg_it(C)" +# print Cp.e.x - Bp.w.x + 0.2 + thickline right 0.4 +Yp: thickarrow + {"svg_bf(y)" at last arrow + (0,7bp__) } +Ap: box fill "svg_it(A)" with .n at Ip.s+(0,-boxht/2) + thickarrow <- from Ap.e right 0.4 then up Ip.y-Ap.y + thickarrow from Ap.w to (Sp,Ap) then to Sp.s +# print PLT.n.y-Ap.s.y+0.1 +# +K: box fill "svg_it(K)" at Ap + (0,-boxht*3/2) + arrow from K.w to (S,K) then to S.s + {OBS: box invis fill 0.9 wid 4.3 ht 1.8 with .nw at (S.w,K.s)-(0.1,0.1) + "svg_it(Observer)" at OBS.sw ljust above } +Io: box fill "svg_it(I/s)" at K + (0,-boxht*3/2) + thickarrow <- from Io.w left 0.4 + {"svg_bf(x)" at last arrow + (0,7bp__); "svg_circ" at last "" + "." at last "".n above} +Sxo: circle fill + {"svg_thinsp`'svg_it(+)" below ljust at Sxo.s + "svg_it(+)" above rjust at Sxo.w+(2bp__,2bp__)} + thickarrow <- left 0.4 +SLo: circle fill + {"svg_thinsp`'svg_it(+)" below ljust at SLo.s + "svg_it(+)" above rjust at SLo.w+(2bp__,2bp__)} + thickarrow <- left 0.4 +Bo: box fill "svg_it(B)" + arrow from 1/4 between U.start and U.end up boxht*3/4 \ + then left 2*boxht then down Bp.y-Bo.y+boxht*3/4 then to Bo.w +Ao: box fill "svg_it(A)" with .n at Io.s+(0,-boxht/2) + thickline from Io.e right 0.4 + {thickarrow <-> from K.e to (Here,K.e) then to (Here,Ao) then to Ao.e + thickarrow from Ao.w to (Sxo,Ao.w) then to Sxo.s } +Xhat: Here +Co: box fill "svg_it(C)" at (Cp,Here) + thickarrow right 0.4 + {"svg_bf(y)" at last arrow + (0,7bp__); "svg_circ" at last ""} + { thickarrow from Xhat to Co.w } + {"svg_it(x)" at last arrow + (0,7bp__); "svg_circ" at last "" } +Syo: circle fill + {"svg_it(+)" above ljust at Syo.n + "svg_it(-)" above rjust at Syo.w+(2bp__,2bp__)} + thickarrow <- from Syo.n to (Syo,Cp) +Lo: box fill "svg_it(L)" with .n at Ao.s+(0,-boxht/2) +# print Io.n.y+0.1 - (Lo.s.y-0.1) + thickarrow from Syo.s down Syo.s.y-Lo.y then to Lo.e + thickarrow from Lo.w to (SLo,Lo.w) then to SLo.s + ] with .nw at last [].sw+(0,-0.5) + +Eqns: [ {"svg_it(r)" above ljust} + ex = textht*2/3 + define(`DDt',`svg_frac(svg_it(d):1*ex,svg_it(dt):2*ex)') + arrow +S: circle + "svg_it(-)" below rjust at S.s + arrow <- down linewid/2 from S.s + box ht bh wid bw "svg_it(K)" + arrow <- down linewid/2 + line right linewid + {"svg_hat(svg_bf(x))" at last line.c above } +Obs:box wid linewid*5 ht boxht*5/4 + [ DDt; "svg_hat(svg_bf(x)) svg_it(= (A-LC)) svg_hat(svg_bf(x)) + svg_it(+ Bu + L)svg_bf(y)" wid 1.5 ljust ] at Obs + "svg_it(Observer)" above ljust at Obs.sw + arrow <- right linewid/2 from 3/4<Obs.se,Obs.ne> + line to (Here,S) + {"svg_it(u)" above at Here+(linewid/2,0)} + arrow from S.e to Here+(linewid,0) +Plant: box wid boxwid*3/2 ht boxht*5/4 + [ DDt; "svg_bf(x) svg_it(= A) svg_bf(x) svg_it(+ Bu)" wid 0.8 ljust + "svg_bf(y) svg_it( = C) svg_bf(x)" wid 0.6 ljust \ + at last "".w + (0,-textht*2) ] at Plant+(0,0.05) + "svg_it(Plant)" above ljust at Plant.sw + arrow right from Plant.e + "svg_it(y)" above rjust at Here+(0,2pt__) + move to last arrow.c + line to (Here, 1/4<Obs.se,Obs.ne>) + arrow to (Obs.e,Here) + ] with .nw at last [].sw+(0,-0.1) + "(b) Plant with feedback from a full-order observer" \ + below ljust at Eqns.sw+(0,-5pt__) + +# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + +Multiblock: [ +boxht = 0.4 +boxwid = boxht + +define summer { circle + {line from last circle.nw to last circle.se + line from last circle.sw to last circle.ne + "svg_it($1)" at 0.6 between last circle and last circle.n + "svg_it($2)" at 0.6 between last circle and last circle.s + "svg_it($3)" at 0.6 between last circle and last circle.e + "svg_it($4)" at 0.6 between last circle and last circle.w } +} + + arrow "svg_it(E`'svg_sub(1))" above +S1: summer(,-,,+) + linewid = boxwid/2 + arrow "svg_epsilon" above + [box "svg_it(H)svg_sub(1)"; arrow; box "svg_it(H)svg_sub(2)"] + arrow +S2: summer(-,,,+) + arrow +T: [box "svg_it(H)svg_sub(3)"; arrow; box "svg_it(H)svg_sub(4)"] + line +Y: Here + arrow + "svg_it(S)svg_sub(1)" above +R1: box "svg_it(R)svg_sub(1)" at (T.x,T.y+boxht*3/2) + arrow from Y to (Y,R1) then to R1.e + arrow from R1.w to (S2,R1) then to S2.n + "svg_it(n)svg_sub(1)" ljust at S2.n+(0,boxht/2) + left +Rf: [box "svg_it(R)svg_sub(2)"; arrow; box "svg_it(R)svg_sub(3)"] \ + at ((S1.x+T.x)/2,T.y-boxht*3/2) + arrow from T to (T,Rf) then to Rf.e + arrow from Rf.w to (S1,Rf) then to S1.s + "svg_it(n)svg_sub(2)" at S1.s+(0,-boxht/2) ljust +] with .nw at Eqns.sw + (0,-0.3) + "(c) A multiblock example" below ljust at Multiblock.sw+(0,-5pt__) + +# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + +Nonlinear: [boxwid = boxwid*3/2; boxht = boxht*3/2 + thicklines_ + boxwid = boxwid*0.6 + boxht = boxht/2 +R: box "reference" "svg_it(R)" + arrow right linewid*4/3 + {"svg_it(y)svg_sub(c)[ref]" at last arrow+(0,textht/3) above } +Gh: box "\"i`'nverse\"" "of svg_it(G)" + arrow from Gh.s down "svg_it(y)svg_sub(m)[ref]" ljust +E: circle + arrow from E.e right "svg_it(e)" above + box "stabilizer" "svg_it(K)" + arrow "svg_delta`'u" above +D: circle + line from Gh.e to (D,Gh.e) "svg_it(u)[ref]" above + arrow to D.n + arrow from D.e right "svg_it(u)" above +G: box "plant" "svg_it(G)" + arrow <- from G.n up boxht/2; "disturbance svg_it(z)" above + arrow right from G.e + (0,boxht/4); "svg_it(y)svg_sub(c)" wid 0.2 ljust + arrow right from G.e + (0,-boxht/4); "svg_it(y)svg_sub(m)" ljust + move to last arrow.c + arrow down Here.y-G.s.y+boxht*2/3 then left Here.x-E.x then to E.s + "svg_it(-)" rjust below + arrow <- down from R.s + "svg_it(W) control input" at Here - (0,0.1) +UL:R.nw +(-boxht/2,boxht/2) +UR:(D.e,UL) + (0.1,0) + line dashed from UL to UR then to (UR,G.s+(0,-boxht*3/2)) + line dashed to (Gh.w,Here) "Controller" above + line dashed to (Here,Gh.s+(0,-boxht/2)) + line dashed to (UL,Here) then to UL +] with .nw at last [].sw + (0,-0.3) + "(d) Nonlinear feedforward (for performance) and small-signal feedback + (for stability)" below ljust at Nonlinear.sw+(0,-5pt__) + +#print PID.n.y - Nonlinear.s.y +command "</g>" +.PE |