01 /*
02 * $Id: Motor2ObserverRK4Simulation.java,v 1.4 2008/02/02 03:06:25 koga Exp $
03 *
04 * Copyright (C) 2004 Koga Laboratory. All rights reserved.
05 *
06 */
07 package matxbook.chap21;
08
09 import java.io.IOException;
10
11 import org.mklab.nfc.matrix.DoubleMatrix;
12 import org.mklab.nfc.matrix.Matrix;
13 import org.mklab.nfc.ode.DifferentialEquationSolver;
14 import org.mklab.nfc.ode.RungeKutta4;
15 import org.mklab.nfc.ode.SolverStopException;
16 import org.mklab.nfc.util.Pause;
17 import org.mklab.tool.control.system.SystemSolver;
18 import org.mklab.tool.graph.gnuplot.Canvas;
19 import org.mklab.tool.graph.gnuplot.Gnuplot;
20
21
22 /**
23 * モータと連続時間オブザーバの結合システムのシミュレーション計算を4次のルンゲ・クッタ法で行うサンプルです。
24 * @author koga
25 * @version $Revision: 1.4 $, 2004/04/23
26 */
27 public class Motor2ObserverRK4Simulation {
28
29 /**
30 * メインメソッド
31 *
32 * @param args コマンドライン引数
33 * @throws InterruptedException 強制終了された場合
34 * @throws IOException キーボードから入力できない場合
35 * @throws SolverStopException ソルバーが停止された場合
36 */
37 @SuppressWarnings("nls")
38 public static void main(String[] args) throws InterruptedException, IOException, SolverStopException {
39 Motor2ContinuousObserver system = new Motor2ContinuousObserver();
40 Matrix x0 = new DoubleMatrix(new double[] {0, 0}).transpose();
41 Matrix z0 = new DoubleMatrix(new double[] {1});
42 Matrix initialState = x0.appendDown(z0);
43 system.setInitialState(initialState);
44
45 DifferentialEquationSolver solver = new RungeKutta4();
46 solver.setTimeStep(0.1);
47 new SystemSolver(solver).solve(system, 0, 10);
48 DoubleMatrix tt = solver.getTimeSeries();
49 DoubleMatrix xx = solver.getContinuousStateSeries();
50 DoubleMatrix io = solver.getInputOutputSeries();
51
52 Gnuplot gnuplot = new Gnuplot();
53 Canvas canvas = gnuplot.createCanvas();
54 canvas.setHolding(true);
55 canvas.plot(tt, xx, new String[] {"x1", "x2", "xo"});
56 canvas.plot(tt, io, new String[] {"u", "y"});
57 canvas.setHolding(false);
58 Pause.pause();
59 gnuplot.close();
60 }
61 }
|