python仿真图_python控制系统仿真库control（一）伯德图

1、安装

我使用的是pycharm，因此直接搜索control安装即可。注意，最好已经事先安装了scipy,numpy以及matplotlib这几个库以备不时之需。

2、文档地址

https://python-control.readthedocs.io/en/0.8.2/

http://python-control.sourceforge.net/manual/

(第二个我觉得更好一些，第一个版本更新，但是没有代码实例)

3、使用例子

1、创建控制系统：

import control as ctrl

sysTf=ctrl.tf([1],[1,2,1])

sysTf为由传递函数定义的系统。但是按照文档说明，这个库还支持用状态空间定义的系统。不过，作为一个自控的初学者，目前只用得到传递函数。

这个传递函数定义了一个振荡环节，相当于：

G ( s ) = 1 ( s ω n ) 2 + 2 ψ ω n s + 1 G(s)=\frac{1}{(\frac{s}{\omega_n})^2+2\frac{\psi}{\omega_n}s+1}G(s)=(ωn​s​)2+2ωn​ψ​s+11​

很多课本上都有这个环节的伯德图。若要画出这个图，则需要这么做：

import control as ctrl

import matplotlib.pyplot as plt

import numpy as np

psiList = [0.05,0.2,0.5,0.707,1.0]

sysTfList=[]

for psi in psiList:

sysTfList.append(ctrl.tf([1],[1,2*psi,1]))

mag,phase,omega=ctrl.bode(sysTfList,omega=np.logspace(start=-1,stop=1,num=200),dB=True,deg=False)

plt.show()

当然，图片还是有美中不足的地方：缺少图例。

4、适当修改源码中的一些部分

以下是我修改过的freqplot.py，在pycharm中按下ctrl+B追踪control.bode_plot()这个方法即可找到这个文件。

主要修改是增加了bode()的参数表，比原来的代码增加了一个legend变量，传入一个与sysList等长度的字符串列表作为图例的文字。

原理是新建了一个名为lineList的列表，保存循环中sysList的每一项所绘出的线条对象。

目前仅修改了margins!=True情况时绘出的图形,因此在伯德图中可以显示图例。用法如下：

import control as ctrl

import matplotlib.pyplot as plt

import math

import numpy as np

psiList = [0.05,0.2,0.5,0.707,1.0]

sysTfList=[]

for psi in psiList:

sysTfList.append(ctrl.tf([1],[1,2*psi,1]))

mag,phase,omega=ctrl.bode(sysTfList,omega=np.logspace(start=-1,stop=1,num=200),dB=True,deg=False,

legends=['0.05','0.2','0.5','0.707','1.0'])

plt.show()

——————————————————————————————————————

生成的图片如下：

以下是源代码：

# freqplot.py - frequency domain plots for control systems

#

# Author: Richard M. Murray

# Date: 24 May 09

#

# This file contains some standard control system plots: Bode plots,

# Nyquist plots and pole-zero diagrams. The code for Nichols charts

# is in nichols.py.

#

# Copyright (c) 2010 by California Institute of Technology

# All rights reserved.

#

# Redistribution and use in source and binary forms, with or without

# modification, are permitted provided that the following conditions

# are met:

#

# 1. Redistributions of source code must retain the above copyright

# notice, this list of conditions and the following disclaimer.

#

# 2. Redistributions in binary form must reproduce the above copyright

# notice, this list of conditions and the following disclaimer in the

# documentation and/or other materials provided with the distribution.

#

# 3. Neither the name of the California Institute of Technology nor

# the names of its contributors may be used to endorse or promote

# products derived from this software without specific prior

# written permission.

#

# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CALTECH

# OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,

# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT

# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF

# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT

# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF

# SUCH DAMAGE.

#

# $Id$

import matplotlib

import matplotlib.pyplot as plt

import scipy as sp

import numpy as np

import math

from .ctrlutil import unwrap

from .bdalg import feedback

from .margins import stability_margins

__all__ = ['bode_plot', 'nyquist_plot', 'gangof4_plot',

'bode', 'nyquist', 'gangof4']

#

# Main plotting functions

#

# This section of the code contains the functions for generating

# frequency domain plots

#

# Bode plot

def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,

Plot=True, omega_limits=None, omega_num=None, margins=None,legends=[],*args, **kwargs):

"""

Bode plot for a system

Plots a Bode plot for the system over a (optional) frequency range.

Parameters

----------

syslist : linsys

List of linear input/output systems (single system is OK)

omega : list

List of frequencies in rad/sec to be used for frequency response

dB : boolean

If True, plot result in dB

Hz : boolean

If True, plot frequency in Hz (omega must be provided in rad/sec)

deg : boolean

If True, plot phase in degrees (else radians)

Plot : boolean

If True, plot magnitude and phase

omega_limits: tuple, list, ... of two values

Limits of the to generate frequency vector.

If Hz=True the limits are in Hz otherwise in rad/s.

omega_num: int

number of samples

margins : boolean

If True, plot gain and phase margin

\*args, \**kwargs:

Additional options to matplotlib (color, linestyle, etc)

Returns

-