{ "cells": [ { "cell_type": "markdown", "metadata": { "id": "Vo4mY-6N2yoA" }, "source": [ "# 3章 線形システムの特性" ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "id": "gJYRxJfd2yoC" }, "outputs": [], "source": [ "from control.matlab import *\n", "import matplotlib.pyplot as plt\n", "import numpy as np\n", "\n", "#plt.rcParams['font.family'] ='sans-serif' #使用するフォント\n", "plt.rcParams['font.family'] = 'Times New Roman' # font familyの設定\n", "plt.rcParams['mathtext.fontset'] = 'cm' # math fontの設定\n", "plt.rcParams['xtick.direction'] = 'in' #x軸の目盛線が内向き('in')か外向き('out')か双方向か('inout')\n", "plt.rcParams['ytick.direction'] = 'in' #y軸の目盛線が内向き('in')か外向き('out')か双方向か('inout')\n", "plt.rcParams['xtick.major.width'] = 1.0 #x軸主目盛り線の線幅\n", "plt.rcParams['ytick.major.width'] = 1.0 #y軸主目盛り線の線幅\n", "plt.rcParams['font.size'] = 11 #フォントの大きさ\n", "plt.rcParams['axes.linewidth'] = 0.5 # 軸の線幅edge linewidth。囲みの太さ\n", "plt.rcParams['mathtext.default'] = 'it'#'regular'\n", "plt.rcParams['axes.xmargin'] = '0'\n", "plt.rcParams['axes.ymargin'] = '0.05'\n", "plt.rcParams['savefig.facecolor'] = 'None'\n", "plt.rcParams['savefig.edgecolor'] = 'None'\n", "\n", "plt.rcParams[\"legend.fancybox\"] = True # 丸角\n", "# plt.rcParams[\"legend.framealpha\"] = 1 # 透明度の指定、0で塗りつぶしなし\n", "# plt.rcParams[\"legend.edgecolor\"] = 'gray' # edgeの色を変更\n", "plt.rcParams[\"legend.handlelength\"] = 1.8 # 凡例の線の長さを調節\n", "plt.rcParams[\"legend.labelspacing\"] = 0.4 # 垂直方向(縦)の距離の各凡例の距離\n", "plt.rcParams[\"legend.handletextpad\"] = 0.7 # 凡例の線と文字の距離の長さ\n", "plt.rcParams[\"legend.markerscale\"] = 1.0 # 点がある場合のmarker scale" ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "id": "iOA70Kcj2yoE" }, "outputs": [], "source": [ "def linestyle_generator():\n", " linestyle = ['-', '--', '-.', ':']\n", " lineID = 0\n", " while True:\n", " yield linestyle[lineID]\n", " lineID = (lineID + 1) % len(linestyle)" ] }, { "cell_type": "code", "execution_count": 3, "metadata": { "id": "EEUYxua92yoE" }, "outputs": [], "source": [ "def plot_set(fig_ax, *args):\n", " fig_ax.set_xlabel(args[0])\n", " fig_ax.set_ylabel(args[1])\n", " fig_ax.grid(ls=':', lw=0.5)\n", " if len(args)==3:\n", " fig_ax.legend(loc=args[2])" ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "id": "FomeQ5aF2yoE" }, "outputs": [], "source": [ "def bodeplot_set(fig_ax, *args):\n", " fig_ax[0].grid(which=\"both\", ls=':', lw=0.5)\n", " fig_ax[0].set_ylabel('Gain [dB]')\n", "\n", " fig_ax[1].grid(which=\"both\", ls=':', lw=0.5)\n", " fig_ax[1].set_xlabel('$\\omega$ [rad/s]')\n", " fig_ax[1].set_ylabel('Phase [deg]')\n", " \n", " if len(args) > 0:\n", " fig_ax[1].legend(loc=args[0])\n", " if len(args) > 1:\n", " fig_ax[0].legend(loc=args[1])" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "# 図を保存するかどうか\n", "is_savefig = False\n", "# 図の保存パス\n", "figpath=\"./notebook_output/\" " ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "# 数式処理のためにsympyをインポート\n", "import sympy as sp\n", "from sympy.matrices import *" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 3.1 伝達関数の時間応答" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 図3.1 1次系の時間応答" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "伝達関数の定義" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [ { "data": { "text/latex": [ "$$\\frac{1}{s + 1}$$" ], "text/plain": [ "TransferFunction(array([1]), array([1, 1]))" ] }, "execution_count": 7, "metadata": {}, "output_type": "execute_result" } ], "source": [ "K = 1\n", "T = 1\n", "P = tf([0, K], [T, 1])\n", "P" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "インパルス応答" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(figsize=(6, 4.6))\n", "\n", "LS = linestyle_generator()\n", "\n", "y, t = impulse(P, np.arange(0, 10.2, 0.01))\n", "pltargs = {'c':'k','ls': next(LS),'label':' '}\n", "ax.plot(t, y, **pltargs)\n", "\n", "y_th=np.array( list(map(lambda t:(K/T*np.exp(-t/T)), t)))\n", "ax.plot(t, y_th, lw=8, color='tab:cyan', alpha=0.2) # 理論式との比較\n", " \n", "ax.set_xticks(np.arange(0, 10.2, step=5))\n", "ax.set_yticks(np.arange(0, 1.05, step=0.5))\n", "plot_set(ax, '$t$', '$g(t)$', 'best') \n", "\n", "#plt.legend(bbox_to_anchor=(1.05, 1.0), loc=2)\n", "ax.get_legend().remove()\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"chap3/1st_impulse.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "ステップ応答" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(figsize=(6, 4.6))\n", "\n", "LS = linestyle_generator()\n", "\n", "y, t = step(P, np.arange(0, 10.2, 0.01)) \n", "pltargs = {'c':'k','ls': next(LS),'label':' '}\n", "ax.plot(t, y, **pltargs)\n", "\n", "y_th=np.array( list(map(lambda t:(K*(1-np.exp(-t/T))), t)))\n", "ax.plot(t, y_th, lw=8, color='tab:cyan', alpha=0.2) # 理論式との比較\n", "\n", "ax.set_xticks(np.arange(0, 10.2, step=5))\n", "ax.set_yticks(np.arange(0, 1.6, step=0.5))\n", "plot_set(ax, '$t$', '$y_s(t)$', 'best') \n", "\n", "ax.scatter(1, 0.632, color='k')\n", "ax.annotate('$(1, 0.632)$', xy=(1, 0.5))\n", "\n", "#plt.legend(bbox_to_anchor=(1.05, 1.0), loc=2)\n", "ax.get_legend().remove()\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"chap3/1st_step.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 図3.2 2次系の時間応答" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "インパルス応答" ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [], "source": [ "#理論式の定義\n", "def second_impulse(K,z,wn,t):\n", " if (z>1):\n", " p1 = wn*(-z+np.sqrt(z*z-1))\n", " p2 = wn*(-z-np.sqrt(z*z-1)) \n", " y = K*p1*p2/(p1-p2)*(np.exp(p1*t)-np.exp(p2*t))\n", " elif (z==1):\n", " y = K*wn*wn*np.exp(-wn*t)*t\n", " else:\n", " y = K*wn/np.sqrt(1-z*z)*np.exp(-z*wn*t)*np.sin(wn*np.sqrt(1-z*z)*t)\n", " return(y)" ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(figsize=(6, 4.6))\n", "\n", "LS = linestyle_generator()\n", "\n", "zeta = [2, 1, 0.25]\n", "omega_n = 1\n", "for i in range(len(zeta)):\n", " P = tf([0, omega_n**2], [1, 2*zeta[i]*omega_n, omega_n**2])\n", " y, t = impulse(P, np.arange(0, 20.2, 0.01))\n", " \n", " pltargs = {'c':'k','ls': next(LS), 'label': '$\\zeta$='+str(zeta[i])}\n", " ax.plot(t, y, **pltargs)\n", " \n", " y_th=np.array( list(map(lambda t:second_impulse(K,zeta[i],omega_n,t), t)))\n", " ax.plot(t, y_th, lw=8, color='tab:cyan', alpha=0.2) # 理論式との比較\n", "\n", "ax.set_xticks(np.arange(0, 20.2, step=5))\n", "ax.set_yticks(np.arange(-0.5, 1.1, step=0.5))\n", "plot_set(ax, '$t$', '$g(t)$', 'best') \n", "#plt.legend(bbox_to_anchor=(1.05, 1.0), loc=2)\n", "#ax.get_legend().remove()\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"chap3/2nd_impulse.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "ステップ応答" ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [], "source": [ "#理論式の定義\n", "def second_step(K,z,wn,t):\n", " if (z>1):\n", " p1 = wn*(-z+np.sqrt(z*z-1))\n", " p2 = wn*(-z-np.sqrt(z*z-1)) \n", " y = K*(1 + 1/(p1-p2) * (p2*np.exp(p1*t)-p1*np.exp(p2*t)) )\n", " elif (z==1):\n", " y = K*(1 - np.exp(-wn*t)*(1+wn*t) )\n", " else:\n", " theta = np.arctan2(1-z*z,z)\n", " y = K*(1 - 1/np.sqrt(1-z*z) * np.exp(-z*wn*t) * np.sin(wn*np.sqrt(1-z*z)*t + theta))\n", " return(y)" ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(figsize=(6, 4.6))\n", "\n", "LS = linestyle_generator()\n", "\n", "zeta = [2, 1, 0.25]\n", "omega_n = 1\n", "for i in range(len(zeta)):\n", " P = tf([0, omega_n**2], [1, 2*zeta[i]*omega_n, omega_n**2])\n", " y, t = step(P, np.arange(0, 20.2, 0.01))\n", " \n", " pltargs = {'c':'k','ls': next(LS), 'label': '$\\zeta$='+str(zeta[i]) }\n", " ax.plot(t, y, **pltargs)\n", " \n", " y_th=np.array( list(map(lambda t:second_step(K,zeta[i],omega_n,t), t)))\n", " ax.plot(t, y_th, lw=8, color='tab:cyan', alpha=0.2) # 理論式との比較\n", " \n", "ax.set_xticks(np.arange(0, 20.2, step=5))\n", "ax.set_yticks(np.arange(0, 1.6, step=0.5))\n", "plot_set(ax, '$t$', '$y_s$', 'best') \n", "#plt.legend(bbox_to_anchor=(1.05, 1.0), loc=2)\n", "\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"chap3/2nd_step.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 図3.3 2次系の固有値の配置と解のふるまい" ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [], "source": [ "def behavior_plot(A,filename):\n", " w = 1.5\n", " Y, X = np.mgrid[-w:w:100j, -w:w:100j]\n", "\n", " s,v = np.linalg.eig(A)\n", " \n", " print('固有値=',s)\n", " U = A[0,0]*X + A[0,1]*Y\n", " V = A[1,0]*X + A[1,1]*Y\n", "\n", " t = np.arange(-1.5, 1.5, 0.01)\n", "\n", " fig, ax = plt.subplots(figsize=(3, 3))\n", "\n", " # 固有空間のプロット\n", " if s.imag[0] == 0 and s.imag[1] == 0: #固有値が複素数の場合はプロットできない\n", " ax.plot(t, (v[1,0]/v[0,0])*t, ls='--', color='k', lw=1)\n", " ax.plot(t, (v[1,1]/v[0,1])*t, ls='--', color='k', lw=1)\n", " \n", " ax.streamplot(X, Y, U, V, density=0.4, color='k', linewidth=0.2)\n", " ax.scatter(0, 0, color='k')\n", "\n", " ax.set_xlim(-1.5,1.5)\n", " ax.set_ylim(-1.5,1.5)\n", " ax.set_xticks(np.arange(-0, 1.0, step=1.0))\n", " ax.set_yticks(np.arange(-0, 1.0, step=1.0))\n", "\n", " #ax.axhline(1, color=\"k\", linewidth=0.5)\n", " plot_set(ax, '$x_1$', '$x_2$')\n", "\n", " if (is_savefig):\n", " fig.savefig(figpath+\"/chap3/\"+filename+\".pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)\n", " " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "$A$行列をいろいろ変えてプロット" ] }, { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "固有値= [-1. -2.]\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "behavior_plot(np.matrix([[0, 1],[-2, -3 ]]) ,'ss_stable_node')" ] }, { "cell_type": "code", "execution_count": 16, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "固有値= [-2. -2.]\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "behavior_plot(np.matrix([[0, 1],[-4, -4 ]]) ,'ss_common_pole')" ] }, { "cell_type": "code", "execution_count": 17, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "固有値= [-1.+1.j -1.-1.j]\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "behavior_plot(np.matrix([[0, 1],[-2, -2 ]]) ,'ss_stable_focus')" ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "固有値= [0.+1.j 0.-1.j]\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "behavior_plot(np.matrix([[0, 1],[-1, 0 ]]) ,'ss_center')" ] }, { "cell_type": "code", "execution_count": 19, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "固有値= [ 0. -1.]\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "behavior_plot(np.matrix([[0, 1],[0, -1 ]]) ,'ss_integrator')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 3.3 周波数応答" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 3.3.1 正弦波応答" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "下記章末問題【5】を参照" ] }, { "cell_type": "markdown", "metadata": { "tags": [] }, "source": [ "### 3.3.2 周波数応答" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "下記章末問題【6】を参照" ] }, { "cell_type": "markdown", "metadata": { "tags": [] }, "source": [ "### 3.3.3 基本的なシステムの周波数応答" ] }, { "cell_type": "code", "execution_count": 20, "metadata": {}, "outputs": [], "source": [ "def my_bode_plot(G,filename):\n", " fig, ax = plt.subplots(2, 1, figsize=(4, 4)) \n", "\n", " #ボード線図\n", " gain, phase, w = bode(G, logspace(-2,2,1000), plot=False)\n", " ax[0].semilogx(w, 20*np.log10(gain), color='k', lw=1)\n", " ax[1].semilogx(w, phase*180/np.pi, color='k', lw=1)\n", "\n", " bodeplot_set(ax)\n", "\n", " ax[0].semilogx(w, 0*w, c='c', ls='-', lw=0.5) \n", " ax[0].set_ylim([-150,100])\n", " ax[1].set_ylim([-280,100])\n", " ax[1].set_yticks([-360,-270,-180,-90,0,90])\n", "\n", " fig.tight_layout()\n", " if (is_savefig):\n", " fig.savefig(figpath+\"chap3/\"+filename+\".pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "code", "execution_count": 21, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "#比例要素\n", "K=10\n", "G=tf([K],[1])\n", "my_bode_plot(G,'bode_1_proportional')" ] }, { "cell_type": "code", "execution_count": 22, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "#微分要素\n", "T=0.1\n", "G=tf([T,0],[1])\n", "my_bode_plot(G,'bode_2_derivative')" ] }, { "cell_type": "code", "execution_count": 23, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "#積分要素\n", "T=0.1\n", "G=tf([1],[T,0])\n", "my_bode_plot(G,'bode_3_integral')" ] }, { "cell_type": "code", "execution_count": 24, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "#1次遅れ要素\n", "T=0.5\n", "G=tf([1],[T,1])\n", "my_bode_plot(G,'bode_4_1st')" ] }, { "cell_type": "code", "execution_count": 25, "metadata": { "tags": [] }, "outputs": [ { "data": { "image/png": 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58803bbfdjLqcbM2U8xYAEZkiIh8WkdNF5HTgq5737AN+3AsGccVAt9toNV1bc8XAZDLJCSecwC233MKTTz7JihUr2G+//bjjjjuYPn06c+bM4ZprruGvf/3rED3NrMtt3e+VEN1eefwS+D1QTi01yfOefcCkTahNEHWNVHqBaDTK1KlTmTp1KhdddBFvvvkmzzzzDL/5zW84//zz2bRpE/Pnz2fu3LksXLjQ85zEOzFtQpnfqeql5YqI7ODUeaTw4w+QSCQ89bFrs9qc6nZlNz7VI4i63I73W9f48eOZN28e8+bN44tf/CLr1q3jwQcf5Fe/+hWLFi1ijz324LjjjmP+/PnMmjWr4e/laOmqd7y84Pa//HEiclP5GRaa5FbIzLHUJoi6mmUu4l3vehef+MQnuPPOO3nrrbdYunQp2WyWCy+8kO22244PfehDfPvb3+bVV1/17K/bfi05xwJsAv4OvFb6NMU7O2aOpTZB1NWMcxGxWIyDDz6YL3/5yzz11FM8//zzLFy4kD/84Q8cdNBB7LXXXlx00UX86le/qvngWTPq8orba7alqpouV0Tk95737ANm+Y/aBFFXsy6TUW2bPHkyp512GqeddhqFQoG//e1vPPjgg3zlK1/hIx/5CDNmzGD+/PnMnz+ffffdl1Ao1LS6vFAzsIjIb4BjSwlf7hGRjnITsBPFNYZGFbMofG2CqKtZF0+vtb9QKMT+++/P/vvvz6WXXkpvby8PPfQQy5Yt45RTTqGnp4ejjz6aI488kg984ANMmuT8m0grLQrvFJrO0LfvNe4DPg6cBZwJjFSiJ0esL5gNh1Qq5amPXZvV5lS3K7vxqR5B1OV2fLPqKv+kffPNN7Nq1Soef/xxZs+ezc9//nP23HNPDjjgAP77v/+bhx56yPY9uJHW5YWaVyyqur6qfGd1m4iMSJb+evhxL+gmODn1sWuz2pzqdmU/AmYQdbkd3yq6dt11V84991xOPvlkttlmG5544gmWLVvGkiVLePHFFzn00EMrt0177LHHiOvygtsH5K4WkdUi8k8ReRX4H8979gEzx1KbIOpq1rkIP3RFo1Hmzp3L1VdfzZ///GdefvllTj31VFauXMnhhx/O7rvvzqJFi7jvvvvo7u4eEV1ecLuFLmAO8FFgN+CbnvfsA2aOpTZB1NVqcyxusRs/ceJEPvzhD3PHHXewZs0a7r//fvbaay+++c1vstNOOzF37lyuueYa/vznP5PP51tqjqWaHSmuRPhe4H0U51pGHT8u2dLptKc+dm1Wm1PdruzGp3oEUZfb8UHTVX6v6bzzzmPZsmWsX7+eyy+/nK6uLs4666xKzpk77rhjUJpOr7q84Pbn5ruAKRSXALkZ+InnPfuAH3Msbh6yc+pj12a1OdXtyn48+BdEXW7HB13XmDFjOOaYYzjmmGMAeP311/n5z3/Or3/9a/7rv/6LHXfckfnz5zNz5kxOOOGEypO0jerygqsrFlV9huKaPp2q+hFVvd7znpsEN/M0Tn3s2qw2p7pd2Y+5oyDqcjv+naZr55135rTTTuOee+7hrbfe4rbbbmPs2LHccMMNbLfddhxzzDHceOONrFq1atBDpfV0ecHxikVEvgT0UpysvUBEjgfywHdV9RrPe/eIH0l/y8l9htvHrs1qc6rbld34VI8g6nI7/p2sKxwOM2vWLGbNmsWSJUsYGBhg+fLlPPjgg9x4442oKvPmzau8RGm3bT++f/WuWLao6hdUdQvwMHAYcCTF4DLqlJdJ9UIQ5yLcbqPVdL1T51jc9Kula9y4cZx00kmV5VN+97vfsd9++3HXXXex1157MWvWLK688koeeeSRypzlSMyxrK8q/0xVCwAi0hQLufgRWNwk5HbqY9dmtTnV7cp+JAkPoi63440ue1s2m2WvvfaqvL+0du1aXnjhBZYtW8Yll1zC2rVrOfLII5k9ezYnnXRSYyIs1LtiGV8ulINKiR097dVgMIw68Xico446imuvvZYVK1bw3HPPsWDBAh577DFmzJjhadv1rlh2EJH3qerKskFE5gNN8eStmWOpTRB1mTmWrasrkUhw+umnc8oppxCLxTyt21XviuVq4DsiskJEfigiTwK3AlcNe48+Ym6FahNEXeZWaOR0eX6a2KmxtFbywcCPgM3A3cB0VX3d0159wgSW2gRRVzOegI341YhPjfbbGrq8UPcBOVVNUbxKMRgMBle09LpCfrwr1N7e7qmPXZvV5lS3K7vxqR5B1OV2vNFlb2tUlxdGdH0gEZkELAY2quqXSrYocCXwEjBZVa8t2Y8AZpaGPqCqf7duz6RNqE0QdQUtbYKTT432a8m0CX6hqhuAVUD1UmsXAK+o6l1AVEQWiEiC4rrR1wI3Al8Xm+eMzQNytQmiLvOA3Mjq8sJorGhonRlaCCwqlZ8GTgK2AJ2lDHZpERkD7EIxkXeFhx9+eNB7DYsWLeKqq64il8tV/jjt7e0UCgUGBgaAt18JL2ciHxgYYGBggL6+4pJJ8XicSCRSqcdiMTKZDJ2dnZV6PB6nt7cXVaW3t5dkMkl/fz+FQoFIJEImk6Grq4tCoUAoFCKTybB582ZyuVyl3t3dTTabpbu7m46ODtLpdCXPRiaToaenpzKJ1t7e3pCmtrY20ul0xWc7TbFYrLI/q6ZoNDpIQyQSIZFIsGXLFqCYr2PMmDGV5NDWuogM0tDd3V35G5V92lqaent76e7uttUUj8fp6ekBqGjq7++nu7u7oiGVSg2ql4+LiJBMJiv7qz5O5b/jcDSFQqHKeCdNAH19fXR0dAzRVNZQralQKLBlyxaSySSpVIpcLkdPTw/JZJJ0Ol3zu2c9TsNGVX3/AEuBH1g/pbYzKSbnLvddBUwtld8PPAj8B/DDqj5/BA627ueyyy5Tr/T393vqY9dmtTnV7cpufKpHEHW5HW902dsa1VV9njb62SpXLKq6tIHu64FyZpkOYIPFVm237meYHr5NEJfJcLuNVtPVrMtkBFWXF5rhV6F7gf1L5enA/RSvUHYEEJE4kFXVl60D/ZhkKl+mDrePXZvV5lS3K7vxqR5B1OV2vNFlb2tUlxdG+lehccAMYLKIbK/FhN3fAK4RkbMozr/8TFVVRJaKyBIgTHGFAIPB0CKMaGBR1c3A+RZbmrcnb6vtDwAPOG3P5LytTRB1vZNy3jbar1Vz3hoMBoNrWjqwmEXhaxNEXc26eHpQdXmhpQOLwWBoTlo6sEQi3qeI2traPPWxa7PanOp2ZTc+1SOIutyON7rsbY3q8kJLBxazEmJtgqgryCsheu3XqishNiV+zLFUP6I9nD52bVabU92u7ManegRRl9vxRpe9rVFdXmjpwGIwGJqTlg4sXnJylonH45762LVZbU51u7Ibn+oRRF1uxxtd9rZGdXmhpQOLH/eCbiaAnfrYtVltTnW7sh+T0kHU5Xa80WVva1SXF1o6sJg5ltoEUVezzkUEVZcXWjqwPProo6PtwlbhuuuuG20XtgpGV8tx+HAHtnRgeeyxxzxvY/ny5Z762LVZbU51u/L1119f16d6BFGXG031+hld9vUa5cNcOWZDSwcWP1i2bJmnPnZtVptTvVbZK0HU5XY7Rpe9bSR1iR/JkkYLEfkrxfwtXtiTYha74faxa7PanOp25cOBFXV8qkcQdbnRVK+f0WVftyt/UFUPcOHXEFo6sBgMhubkHX8rZDAY/McEFoPB4DsmsBgMBt8JXGARkWki8h0R+a2IeF8rskkQkbCIXCUih462L34hIpNF5FMicr7dgnStShCPFTR2bgUusAB5VT0bWA7MGW1n/EJV88CrBOuYnQv8GFgDHDnKvvhGQI8VNHBuBU04qvp8uQgMWe+5xQnaT3jvAd6iuI7UfqPsi98E7Vg1dG4FLrAAlJZk3ayqb462LwZHoqUV98KMznK/hgZxe24FJrCIyMUi8gMReQ9wInC7iHhfH2SUsegKGs+JyCRgCvDUaDtjcMWJuDi3mj6wiMi7ReSXInJYle18Efm4iFxZWgQNVb1JVT8KfJDi2s93AR8eFaddMAxdLwBTKT4V2dS41Qb8D/DvwC4U79ubGre6ShPRLXGsoCFdS3B7bg130eeR/AA/Ag4vlQ8AvlcqzwFuHG3/jK53jjajy92n6a9YSmSqyicCz5bKT5fqrUpQdUFwtRldLmiVwFLNZKCrVE4BO4yiL34SVF0QXG1GVw1aMbCsB8qLy3YAG0bRFz8Jqi4IrjajqwatGFjuBd5bKk/He9qEZiGouiC42oyuGjR9YBGRf6M4uz5bRNpU9SmKP1OeDbwfuGJUHRwmQdUFwdVmdDWwzdLMr8FgMPhG01+xGAyG1sMEFoPB4DsmsBgMBt8xgcVgMPiOCSwGg8F3TGAxGAy+YwKLwWDwHRNYDAaD75jAYjAYfMcEFoPB4DsmsBgMBt8xgcVgMPiOCSwGg8F3TGAxGAy+YwKLwWDwHRNYDAaD7zTF6nMi0gFcCjwHHAh8leIyjp+kuAZut6r+ZNQcNBgMDdEUgQW4BHhDVX8oIiuBr5fsn1bVl0Xkf0XkEbUs63jGGWforrvu6mnH2WyWaNR5wUSnPnZtVptT3a7sxqd6BFGX2/FGl72tUV1XXXXV7VpcBL5xRnuhpFJqzGuA75bKHcAA0FPVfgNwhnXc4sWL1SsbN2701MeuzWpzqtuV3fhUjyDqcjve6LK3NaoLWKrDPKeb5YrlWuDzInI5EC99uqrabdc2eeSRRyiuZllk0aJFXHXVVeRyOdLpNADt7e0UCgUGBgYAGDOmuKpBf38/AKFQiIGBAfr6+gCIx+NEIpFKPRaLEQ6H6ezsrNTj8Ti9vb2oKoVCgVQqRX9/P4VCgUgkQjgcpquri0KhQCgUIhwOs3nzZnK5XKXe3d1NNpslm82STqdJp9OkUik6OzuJRqP09PSQyWQqGhrR1NbWhohUfLbTFIvFKvuzaopGo4M0RCIREokEmUyGzs5OQqEQY8aMIZvNDqrncjk6OzsRESKRSEVDJpMhlUpRKBQqPm0tTb29vWQyGXp6eoZoisfjpNNpOjs7K5r6+/tJpVJ0dXUxZswYUqnUoHr5uGzcuJFkMkk+n6/4UD5O5b/jcDSFQqHKeCdNULwISKfTQzSVNWzevLmiqVAokMvlKnpyuRzZbJZUKkU6na753Usmk4OO07AZbkTaWh/g+xTnWDqrbF8DPmbtu2TJkiFRulE2bdrkqY9dm9XmVLcru/GpHkHU5Xa80WVva1QXHq5YmupXIRGZDbwH+BzwqIi8q9S0J/CgtX+hUPC8z1wu56mPXZvV5lS3K7vxqR5B1OV2vNFlb2tUlxea4lZIRHYEZgHTgMNUtU9ELgY+KSIvA99X1TU24zzvOxSqH1ud+ti1WW1OdbuyG5/qEURdbscbXfa2RnV5oSkCi6quBX5e+pRtrwCLncZ5/eUE3r7vHW4fuzarzaluV3bjUz2CqMvteKPL3taoLi801a1Qo/hxyVaeaBtuH7s2q82pbld241M9gqjL7Xijy97WqC4vtHRg8WOOJZvNeupj12a1OdXtym58qkcQdbkdb3TZ2xrV5YWWDix+4GaexqmPXZvV5lS3K/sxdxREXW7HG132tkZ1eaGlA0ssFvO8jWQy6amPXZvV5lS3K7vxqR5B1OV2vNFlb2tUlxdaOrDk83nP2wjiXITbbbSarmadiwiqLi+84wNL+enW4faxa7PanOp2ZTc+1SOIutyON7rsbY3q8kJLBxaDwdCctHRgMXMstQmirmadiwiqLi+0dGAxt0K1CaKuZr1lCKouL5jAEsAT0O02Wk1Xs56AQdXlhaZ4pN8JETkfyFBMm/A1Vd08uh4ZDIZ6NPUVi4gcAMxU1duA5cCV1e1+vCvU3t7uqY9dm9XmVLcru/GpHkHU5Xa80WVva1SXF5r9iuVE4NlS+WmKuVouKTf+9Kc/5fnnn0dECIVCiEjl47aey+WIxWKD2q19c7kc8Xjctj2bzZJIJIb0b29vJxqNEolEyOVyJJNJIpEIkUiEbDZLR0fHkHImk2Hs2LGVf8v9E4kEiUSCtra2SrnsTy1M2gT3bUZXQNMmODAZeLJUHpJFTlW57777KvUTTjiBk08+uZItq1AoEIvFKBQKpNNpCoVC5SonlUpVMnK1t7dX6uFwuJJVrlxPpVKEQqFiAptSBrhyRjSASCRS2T4UHzDq6+sjl8uRz+crDxxls9lKXUQqmdWi0SiZTKaSaSybzaKqlSxf5cxfAwMDlWxf2WyWeDxOPB4fFGzi8TjJZJJEIsG4cePo6Ohg3LhxjBs3jng8TkdHBxMmTGDSpEkUCgV22203Jk2aRCKRGJSZrK+vr/I3LAe3zs5O0ul0JWPcxo0bbesiQjqdRlXJZDJ0d3cTjUbZtGnToOxqjWZb6+npqfR3yrbW3d2NqtpmkHvrrbdIp9ODMsht2rSJbDZbySC3cePGSr2ccS6TyZBMJunq6qr4kMlkUNXKNoebQW7Dhg2k0+m6GeT6+voq9WpNZQ35fH5QBrktW7YQjUYrGeR6enqIRqOVDHLd3d3EYjHS6XRFQzKZHHSchkuzB5b1QPkd7g5gQ3XjwoULue666zztoLOzk4kTJw67j12b1eZUtyu78akcLMsBp5yCMJVK0dvby5o1axARuru76enpoaenh3Xr1vHiiy/S3d1NV1cXb7zxBp2dnfT39zNp0iS23357pkyZwm677cb222/Pfvvtx2677cbUqVOJRqN0dHQM8iuZTNasd3Z2Mnbs2EpbIpFgzJgxQ3R1dHQMqlsvw6tf4R8YGBgyvq2tbVA9kUgAVPYdj8cHtY8dO3bQNhKJBIVCgQkTJlTquVxuUD2bzbLttttW/LNqzGQyg7bZiCaAbbbZZtD4WprKeqyayhrGjRs3pH/5P51a9fL2qjXYHadGcQwsIvK5ehtQ1c978sCZe4GLSuXpwP3Vje/kOZZQKERbWxttbW2MHz9+SPvAwMCQL2itPqlUig0bNrB+/XrWrl3LP//5T1atWsUf//hHVq9ezdq1a9lnn33Yd999mT17NkcffTQ777yzmYsIuC4v1LtimQDc59B+omcPHFDVp0TkORE5G9gFuMLS7nkfblIvOPWxa7PanOp2ZT/SQTSiK5FIsMsuu7DLLrswY8YMoHjZXf6C9fb28re//Y3HH3+cZcuWsXjxYiZNmsSCBQs455xzKC/BsrV1uR3faserWXV5od6vQo+p6sO1PsDjnj2og6per6rfUdXPqeqm6jY/JpnK97/D7WPXZrU51e3Kbnyqh5+6kskks2fP5swzz+Tuu+9m/fr13HnnnWzcuJGDDjqI448/npUrV251XW7Ht9rxalZdXnAMLKp6D4CIzK22i8heInIq8DPPHhhajnA4zEEHHcQXv/hFXn/9dY455hhOOOEEFi1aVJloNLyzcfscy20i8oSIlJcd/AqwDDhr67jlDpPztjYjpSuRSHDBBRfw3HPPkc1mmTFjBq+++uo7KjdsUHV5wW1gWQ6cCxxaqu+gqm8Be3v2wBAIxo0bx6233sp5553HnDlz+Oc//znaLhlGEbeB5VHgNWBcqR4u/buL3w41gh+5OcvPFAy3j12b1eZUtyu78akeo6Xroosu4vLLL2fBggVs3rx5UD+vutyOb7Xj1ay6vOA2sMSAl4FDRWQh8LqInAt4f7/aEDjOO+88DjvsMM4///zRdsUwSrgKLKp6p6pOUNWTVPU+VT0e+F9gVL85kYj35/vqPetRr49dm9XmVLcru/GpHqOt69prr2XlypXcf//9vulyO77Vjlez6vKCq8AiImeIyE1S5BQRmaaqb6rqqN5Im5UQazPaupLJJDfddBOf+cxnKo8FBHXFwKDq8oLbLRwJ/L20ZvQ9wLc879kH/JhjKb+XMdw+dm1Wm1PdruzGp3o0g65jjjmGXXfdldtvv921T064Hd9qx6tZdXnBbWD5FdAJICL7A3t43rPhHcHll1/O17/+dV+SchlaB7eBpQv4fyJyJ/B74L+3mkcNEA6H63eqg/WFrkb72LVZbU51u7Ibn+rRLLrmzp3Ldtttx7333utZl9vxrXa8mlWXF9xO3i4HLgBuAaYCv/a8Zx/w417QzQSwUx+7NqvNqW5X9mNSull0iQiXXHIJX/3qVz3rcju+1Y5Xs+ryQs0zU0RuEZHvlj8Un7Y9D7gB+K7nPQ/e1xIROU1EviAiR5RsURG5pjRxvMRunJljqU0z6TriiCNYt24df/jDH+r65ESzzkWYOZahOP2Xvx74CXAXkKD4XtBdwB3AM573XEJEDgUOVNXvA58DbhCRBMUrpFdU9S4gKiIL/NqnYWQJh8NccMEF3HrrraPtimGEcLrmuVpLeQlEZJKqPlBuEJEzfPQhBuwrIlFVzZZ+Qn4PsBBYVOrzNHASxWdnKjzyyCODfnJetGgRV111VUNZvPL5PAMDA5UobZfFC4pJfcr16sxk5WRL5axd5cvIrq4uCoVC5XZt8+bN5HK5Sr27u5tsNkt/fz/pdLqSda5MT09PJVv6cDKTFQqFis+1MpNV163Z1qo1lLOtDQwM0NnZWckYV86uZq2Xj0lZQ19fH6eeeirXXHMN//jHP5g8efJW09Tb21vJtGaXQa6soTqDXF9fX0VDKpUaVC8fFxEhmUySyWQqPpQ1ln0YbgY5p+9edQa5TCZDOp22zSDX19c3SFN5v+XkX7lcrlIvZ5Cz++4lk0my2ewgjcNCVet+gMspvnA4H7gWeNjNOJvtLAV+YPO5BPgq8FGgQPFXp1XA1NK49wMPWrd3+eWXq1cGBgY89bFrs9qc6nZlNz7Voxl1feITn9Arrriirl+N+NRov2Y8Xs2qC1iqwzjPVdX1r0LXAmMpPmnbDvy/YQaxpar6UZvPjar6aSAO/FVVV1MnLSX4s/6Jm9f8nfrYtVltTnW7sh+pB5pR15lnnsmtt95KKpWq61uj/rrt14zHq1l1ecExsIjIdABVzanq11T1g6p6gaquq273AxHZluKVy5kl073A/qXykLSUhtZjjz324IADDuDHP/7xaLti2MrUu2KZ67G9LiKSFJH5wMXAB1X1H6WmbwD7iMhZFBcsG5JUyo/nWNys/+zUx67NanOq25X9WJO6WXV96lOf4qabbhpWWlG3f5dWO17NqssL9X6w/k8ROblGm1B8u/kbXhxQ1V7gwdKn2p7m7clbW8wDcrVpVl3z5s3j4osvZsWKFRxxxBF1fXTrr9t+zXi8mlWXF+qlpjxQVY+s8TlCVWd49sADZo6lNs2qKxQKcdlll7F48eKGH/Nv1rkIM8cylKZeYnUkcHNJ7tTHrs1qc6rblYdzm+DGr0b6bE1dH/3oR4nH49x22211fXTrr9t+zXi8mlWXF1o6sPjxSL+bvLlOfezarDanul3Zj1y+zawrFArxrW99i89+9rM8++yzuMXt36XVjlez6vKC6zNTRCaU/m2arHF+vNPQrHMRXml2XdOmTeOGG25g4cKFrF+/vq6v9fx1268Zj1ez6vKC20RPtwD/U6rOFZFhPcfiNybnbW1aQdcZZ5zBqaeeyuGHH86//vUvT/667deMx6tZdXnB7RXLJuAeAFX9NcUnaEcdP+4FzUqI7tu2hq4rr7ySc845hxkzZvCLX/xi2P667deMx6tZdXnBbWB5qlwQkU943qtPmLQJtWklXZdccgn33XcfS5YsYd68efzpT39q2F+3/ZrxeDWrLi+4PTNfBE4RkeeAc4DTPe/ZB/z4AyQSCU997NqsNqe6XdmNT/VoNV2HHHII//jHP1iwYAEf+chHOPDAA7n55pt57bXXXPlbz3enttE+Xs2qywtuEz39o/ROz97A2RTfNh51zBxLbVpRVzQa5fzzz2f16tVcffXVrFy5kgMPPJDp06dz3nnncfvtt/PCCy/UPe7NpqseQZxjcfVfvoj8nuIj92cA+wArKb7xPKqYOZbatLKuUCjEsccey7HHHks+n+cvf/kLTzzxBMuXL+fGG29kzZo17Lrrrrz73e9m6tSp7LTTTuy4446Vf52uZJvxeAVxjsXtvcR3gM3AAoqBZVi/ConIJGAxsFFVv1RlOw/4GzAT+KKqbillkptZGvqAqv7dZnvDcWMQo71MRlCX//BLVzgcZubMmcycOZPTTjuNCRMmkEqlWL16NS+88AIvvfQSq1at4qGHHmLNmjWsXbuWDRs20NHRwYQJE9h2220r/2677bbEYjEmTpxIMpkkmUzS3t6OqjJlypRKPZ1OUygUiMfjxOPxQd8zs/yHO9wGlp2AnwKXAnsBnwG+1+jOVHWDiKwCdqgy/wfFpUV+ISI7AUeJyG+A64CDKCaC+q2IHKaWSxSzKHxtgqirPD6RSDBt2jSmTZtm26+/v59UKkVXVxcbN26s/Fsub968mTVr1tDb20tvby89PT0MDAzQ29vLli1b6O/vJ5PJVBIrZTKZSlKl6k8sFiORSBCNRonFYoTDYSKRSOXf6rKTTVVJJBKEw2FCoRAigogMKefzeaLRqG1bLpcjFosNsufzeWKxWM0+5Xq5XN52Npv1/CKiq8CiqteJyFdUNS8ibRQTPg0X6ws+vwO+IyJPAttQzKd7CNBZCiRpERlDcZ3o1wYN/N3v+MIXvlCpDyeDXDabZdy4cY5ZvFKpVOX9CWtmslQqxcSJEwdlkMtkMpV6+YCWs3iV6+UsXr29vUyZMoV0Ok1XVxfJZJJCoVD5Ypc1NJqZbMuWLZVbglqZydatW0cymbTNtpZOpwdpSiQSbNiwgTFjxlSyq7311luVLGhjxoyhs7OTRCJR+VKXNfT29jJ58mQ2btxYefhqa2kqB4sJEyaw8847M378+EHZ1tavX097e/ugbGs9PT2MHTu2kkFu8+bNlXr5uMTjcaLRKG+88QYiUskcCMXsgrFYjGg0SiaTYWBgoHKiZrNZBgYGyOfzhMNhcrlc5e8qIqgqmzZtGpR8PJVKVdoBUqkUqkomk6GtrY1MJlNpD4VClX3E43FCoVClPZvNEo/HyeVyFAoF0uk0bW1t5HI5crkc2WyWRCJBPp8nnU4TDoeJRqOkUinPVy1u51gOBOaLSJjiW80HA8c49F+KzdpDqvpRG9s/ROR2irl0f6aq/SIymeKSI2VSFK9yBgWWQw89lCeeeMLWh46OjkH19vb2QfXyF7ezs5O2tjbH5SczmQwTJ04c1F4+QconU/VMemdnJxMmTBhUHzdu3KD6NttsM2hb8Xi8sp/Ozk7Gjh07bE0AAwMDQ3y2akwmk4P6VD9xadVQ3n51/7a2tkH1RCJRqVs1JBIJ4vH4EJ/81lQ+DuV9W58ibW9vH+JzoVCoaE0kEuRyuUH1bDZbGSMigzSWj5fVr0ZwO96pn12b1eZUtyvfc889DWsp4/ZW6JMUU0UCvEkxfWRNVHWpWwdE5GggChwH/ExEehicPQ5qZJAzcyy1CaKuZp2LCKouL7jdwuOq+mXgNVX9LsW1hfziA8BaVc0CVwEzgD8COwKISBzIqurL1oFmjqU2QdTldrzRZW9rVJcX3AaWbUTkcmCtiDxNMYt+w4jIOIqBY7qIbF8yfw04WkSOA+YAN5aSPC0trSf0X8DH7bZXXmzcC+V7/OH2sWuz2pzqdmU3PtUjiLrcjje67G2N6vKC28nbG8plEZlDcZK1YVR1M8WE3NW2VyiuIWTt+wDwgNVejR+/t7t5yM6pj12b1eZUtyv78eBfEHW5HW902dsa1eUFt5O3ZwCnUFy4TICd8fd2aNRwM0/j1MeuzWpzqtuV/Zg7CqIut+ONLntbo7q84Hby9nTgQqC8otZMh74jhh9Jf5PJ+ullnPrYtVltTnW7shuf6hFEXW7HG132tkZ1ecHtHMuPgFWq+pqqvgYMeQp2NGg0Z6odQZyLcLuNVtPVrHMRQdXlhZpXLCLyKDCF4q2PANeIyECpvA0wodbYkcKPwOImIbdTH7s2q82pblf2I0l4EHW5HW902dsa1eUFp1uh6ym+ozNkLyIy2/OeDQZDYKl5K6SqvwB2EJG7ReQrIpKoant0JJyrh5ljqU0QdTXrXERQdXmh3hzLd4B+ir8Cfcrz3nzG3ArVJoi6mvWWIai6vFAvsPxFVf9TVU8BKqsYiUiHw5gRwwSW2gRRV7OegEHV5YV6PzdvIyKHlsodVeUPAEs8791gMASSeoHlOODdVfVyuoRdaYLA4se7Qta3aRvtY9dmtTnV7cpufKpHEHW5HW902dsa1eWFeoFloar+1WoUkf2GszMRuQ44GlDgVFV9vvRU75cpPnwXAR5R1dPdZJDz45F+N+8bOfWxa7PanOp2ZT/egQqiLrfjjS57W6O6vFBvUfghQaVk/1ujOyoFo++p6v7AbcDVpaY3VHWKqu5BMW3lj0u/QF0HXAvcCHxdbJ4zNg/I1SaIupr1QbKg6vKC9/UzXGIJRo9RekNaVX9bZX8/xdwvh+Iig9zDDz886L2G4WSQGxgYYGBgwDGDXCaTobOzs1KvzrbW29tLMpkckkGuq6urkkEuk8mwefPmSga5TCZDd3c32WyW7u5uOjo6SKfTdHd3A8XJs56eHk8Z5NLpdMXnWtnWyvuzyyBXraGcbW3Lli0AlYxx5ax61rqIDNLQ3d1d+RuVfdpamnp7e+nu7rbVFI/H6enpARiUQa67u7uiIZVKDaqXj4uIkEwmK/urPk7lv+NwNIVCocp4J00AfX19dHR0DNFU1lCtqVAosGXLFpLJZCV7YU9PD8lkspK90O67Zz1Ow0ZVff9QXCnxB9ZPVftngHdZxowHbiiV/wP4YVXbH4GDrfu57LLL1Cv9/f2e+ti1WW1OdbuyG5/qEURdbscbXfa2RnUBS3WYMWCrXLGoQwa50i3RX1T1VUvTv1NM2A0uM8ipWf6jIb8a6dOMupp1mYyg6vKC9xx0DSAi04BtVHWFiIwVkepH/A5S1fLamq4yyPkxyVS+TB1uH7s2q82pbld241M9gqjL7Xijy97WqC4vjNgcS+kZmO8BnaV5EaW4vAelZT9eL/dV1bSIlDPIhamRQc5gMDQnIzl5+wjwrhptayjmu6221c0gZ3Le1iaIupo1N2xQdXlhRG+FDAbDO4OWDixmUfjaBFFXsy6eHlRdXmjpwGIwGJqTlg4s5WUpvWBdSa/RPnZtTqsqWut2ZTc+1SOIutyON7rsbY3q8kJLBxazEmJtgqirWVcMDKouL7R0YPFjjqX6Ee3h9LFrs9qc6nZlNz7VI4i63I43uuxtjeryQksHFoPB0Jy0dGAJh8OetxGPxz31sWuz2pzqdmU3PtUjiLrcjje67G2N6vJCSwcWP+4F3UwAO/Wxa7PanOp2ZT8mpYOoy+14o8ve1qguL7R0YDFzLLUJoq5mnYsIqi4vjPRLiGeLyAMi8jcR2bPKLiJyhogcKyK7lmxHiMilpc++dtt79NGmWIXEd6677rrRdmGrYHS1HIcPd+CIBRYRiVFMO3kcxfQI86qabwH+rqq/VtVX3GaQe+yxxzz7tXz5ck997NqsNqe6Xfn666+v61M9gqjLjaZ6/Ywu+3qN8mGuHLNhxAKLqmZUdVWpmqO4HjQiciKwN3CYiHxLRCYCh1DKIKeqaYq5WXbZGn4tW7bMUx+7NqvNqV6r7JUg6nK7HaPL3jaSusSPZElDNiqyFNjDpuk04GyKbzJfpqp3isiPgV+o6k9E5CpgT+CXwAdU9dTS9v4ILFLVxy37eROYXGV6GFjRoLt7Aqs89LFrs9qc6nblw2lchxu/GunTjLrcaKrXz+iyr9uVP6iqB7jwawgjnkEOuE1EHqQYPO6kmJKyp9T2c+DHFFdgdJNBbooP7hoMBnuWDnfgaP0q9CbwZKm8AphRKseAJ3CZQc5gMDQnW+VWyHZHIpMoXpHcR/EK5Vequq4UOG6ieBuzC3C7qm4UkeOA6RQzyP1aVZ8aEUcNBoNnRiywGAyGdw4t/YCcHSIyTUS+IyK/FRHva0U2CSISFpGrqtbPbnlEZLKIfEpEzrd7nKBVCeKxgsbOrcAFFiCvqmcDy4E5o+2MX6hqHniVYB2zcylO1q8BjhxlX3wjoMcKGji3giYcVX2+XASGrPfc4gTtvvU9wFsU15Ea1nrgTUzQjlVD51bgAgtAaUnWzar65mj7YnAkWlpxL8wIrhhhGD5uz63ABBYRuVhEfiAi7wFOBG4XEe/rg4wyFl1B47nSr4VTAPOrX2twIi7OraYPLCLybhH5pYgcVmU7X0Q+LiJXisg4AFW9SVU/CnyQ4trPdwEfHhWnXTAMXS8AUyk+FdnUuNUG/A/FpXV3oXjf3tS41VWaiG6JYwUN6VqC23NruIs+j+SH4ntFh5fKBwDfK5XnADeOtn9G1ztHm9Hl7tP0VywlMlXlE4FnS+WnS/VWJai6ILjajC4XtEpgqWYy0FUqp4AdRtEXPwmqLgiuNqOrBq0YWNbz9guKti8ntihB1QXB1WZ01aAVA8u9wHtL5enA/aPniq8EVRcEV5vRVYOmDywi8m8UZ9dni0ibFl9GfE5EzgbeD1wxqg4Ok6DqguBqM7oa2GZp5tdgMBh8o+mvWAwGQ+thAovBYPAdE1gMBoPvmMBiMBh8xwQWg8HgOyawGAwG3zGBxWAw+I4JLAaDwXdMYDEYDL5jAoth1BGRc0XkPovtkyJivp8tijlwBl8QkXeJyBMicoGITGxw+AqKS+0O2qSqFiz7mFPa/goPrhpGABNYDH7ygqp+XVU7GxyXqq6IyDTgOWsnVf2jqn7di4OGkcFkRjfURUS2BQ5Q1d9W2eYBc1X1szXGfIxiPts1FJeLyAIrgUNU9WOlPp8ptc+2DD8U+LaI7AEsoPgf4DhVvdxXYYathrliMbjhMOB3ACLyvpJtBZYrDQsPATsBHwe+BfwKuAc4vrSdE4FtVPXuUns1ES0u+jWTYgb/rwE/9UGHYYQwgcXghriqqoiMBz5Sso0FHnMYUwA6tZiX4wVgN+AgIF1qPwp4o1TuKw8qLXNSvg26F0gAzwPb+6DDMEKYwGJww3tL/54FPFNat/cS4BGX4z8LvKWqywFKv/b8i8HLqpa/i0dSvBqC4u3XBcAJwOeH67xh5DGBxeAGFZFXKN76fIriiX9X6XalFocCe4nInhSX47xKRBYDayle9XwDSIjIz0v1pIhMpXgblCttY4aI3Ebxluj2raDLsJUwGeQMviAi7wKWquqZI7CvFap6+Nbej2H4mCsWg5+8e5jPsbii/BzL1ti2wV/MFYvBYPAdc8ViMBh8xwQWg8HgOyawGAwG3zGBxWAw+I4JLAaDwXdMYDEYDL5jAovBYPAdE1gMBoPv/H+EzX7bEmDcJAAAAABJRU5ErkJggg==\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "#2次遅れ要素\n", "zeta=0.2\n", "w_n=1\n", "G=tf([w_n**2],[1,2*zeta*w_n,w_n**2])\n", "my_bode_plot(G,'bode_5_2nd')" ] }, { "cell_type": "code", "execution_count": 26, "metadata": { "tags": [] }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "#3次遅れ要素\n", "w_n=1\n", "alpha_1=2\n", "alpha_2=5\n", "G=tf([w_n**3],[1,alpha_2*w_n,alpha_1*w_n**2,w_n**3])\n", "my_bode_plot(G,'bode_6_3rd')" ] }, { "cell_type": "code", "execution_count": 27, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "#1次進み要素(位相が-360°回っているので注意)\n", "T=0.5\n", "G=tf([T,1],[1])\n", "my_bode_plot(G,'bode_7_1st_lead')" ] }, { "cell_type": "markdown", "metadata": { "id": "UlbWdpks2yoM" }, "source": [ "## 章末問題" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 【3】 行列指数関数と解のふるまい" ] }, { "cell_type": "code", "execution_count": 28, "metadata": {}, "outputs": [], "source": [ "A = np.array([[0, 1], [16, -6]])\n", "B = np.array([[0], [1]])\n", "C = np.array([1, 0])\n", "D = np.array([0])\n", "# B, C, Dはなんでもよい" ] }, { "cell_type": "code", "execution_count": 29, "metadata": {}, "outputs": [], "source": [ "sys = ss(A, B, C, D)" ] }, { "cell_type": "code", "execution_count": 30, "metadata": {}, "outputs": [], "source": [ "#理論式(遷移行列)\n", "def transition(t,p0): \n", " At = (np.array([[2,-1],[-16,8]])*np.exp(-8*t) + np.array([[8,1],[16,2]])*np.exp(2*t))/10\n", " return np.dot(At,p0)" ] }, { "cell_type": "code", "execution_count": 31, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Aの固有値は, [ 2. -8.]\n" ] } ], "source": [ "s, v = np.linalg.eig(A) \n", "print('Aの固有値は,', s)" ] }, { "cell_type": "code", "execution_count": 32, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "傾き 2.0\n", "傾き -8.0\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(figsize=(4, 4))\n", "\n", "w = 1.5\n", "Y, X = np.mgrid[-w:w:100j, -w:w:100j]\n", "\n", "U = A[0,0]*X + A[0,1]*Y\n", "V = A[1,0]*X + A[1,1]*Y\n", "\n", "t = np.arange(-1.5, 1.5, 0.01)\n", "print('傾き',v[1,0]/v[0,0])\n", "print('傾き',v[1,1]/v[0,1])\n", "\n", "# 固有空間のプロット\n", "if s.imag[0] == 0 and s.imag[1] == 0: #固有値が複素数の場合はプロットできない\n", " ax.plot(t, (v[1,0]/v[0,0])*t, ls='-.', color='k', lw=2)\n", " ax.plot(t, (v[1,1]/v[0,1])*t, ls='--', color='k', lw=2)\n", " \n", "ax.streamplot(X, Y, U, V, density=0.7, color='k', linewidth=0.5)\n", "\n", "ax.set_xlim(-1.5,1.5)\n", "ax.set_ylim(-1.5,1.5)\n", "ax.set_xticks(np.arange(-1.5, 1.51, step=0.5))\n", "ax.set_yticks(np.arange(-1.5, 1.51, step=0.5))\n", "ax.grid(ls = ':')\n", "plot_set(ax, '$x_1$', '$x_2$')\n", "\n", "T = np.arange(0,1,0.01)\n", "\n", "x=np.array( list(map(lambda t:transition(t,[0,1]), T))) \n", "ax.plot(x[:,0], x[:,1], lw=8, color='tab:orange', alpha=0.2) # 理論式との比較\n", "_, _, x = initial(sys, X0=[0,1], return_x=True)\n", "ax.plot(x[:,0], x[:,1], lw=1, color='r',) # シミュレーション結果\n", "\n", "x=np.array( list(map(lambda t:transition(t,[0,-1]), T))) \n", "ax.plot(x[:,0], x[:,1], lw=8, color='tab:orange', alpha=0.2)\n", "_, _, x = initial(sys, X0=[0,-1], return_x=True)\n", "ax.plot(x[:,0], x[:,1], lw=1, color='r')\n", "\n", "x=np.array( list(map(lambda t:transition(t,[1,-1]), T))) \n", "ax.plot(x[:,0], x[:,1], lw=8, color='tab:orange', alpha=0.2)\n", "_, _, x = initial(sys, X0=[1, -1], return_x=True)\n", "ax.plot(x[:,0], x[:,1], lw=1, color='r')\n", "\n", "x=np.array( list(map(lambda t:transition(t,[-1,1]), T))) \n", "ax.plot(x[:,0], x[:,1], lw=8, color='tab:orange', alpha=0.2)\n", "_, _, x = initial(sys, X0=[-1,1], return_x=True)\n", "ax.plot(x[:,0], x[:,1], lw=1, color='r')\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_3_phase_portrait.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "code", "execution_count": 33, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(figsize=(6, 4.6))\n", "\n", "T = np.arange(0,2.01,0.01)\n", "x0 = [0,1]\n", "\n", "x=np.array( list(map(lambda t:transition(t,x0), T))) # 理論式\n", "ax.plot(T, x[:,0], lw=8, color='tab:orange', alpha=0.2)\n", "ax.plot(T, x[:,1], lw=8, color='tab:cyan', alpha=0.2)\n", "_, _, x = initial(sys, X0=x0, T=T, return_x=True) # シミュレーション\n", "ax.plot(T, x[:,0], lw=1, color='r', label='$x_1$') \n", "ax.plot(T, x[:,1], lw=1, color='b', label='$x_2$') \n", "\n", "ax.axhline(0, color=\"k\", linewidth=0.5) \n", "ax.grid(ls = ':')\n", "plot_set(ax,'t','x','best')\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_3_time_response.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 【4】 初期値応答と入力応答" ] }, { "cell_type": "code", "execution_count": 34, "metadata": {}, "outputs": [], "source": [ "A = np.array([[-1, -1], [1, -1]])\n", "B = np.array([[0], [1]])\n", "C = np.array([1, 0])\n", "D = np.array([0])" ] }, { "cell_type": "code", "execution_count": 35, "metadata": {}, "outputs": [], "source": [ "sys = ss(A, B, C, D)" ] }, { "cell_type": "code", "execution_count": 36, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Aの固有値は, [-1.+1.j -1.-1.j]\n" ] } ], "source": [ "s, v = np.linalg.eig(A) \n", "print('Aの固有値は,', s)" ] }, { "cell_type": "code", "execution_count": 37, "metadata": {}, "outputs": [], "source": [ "#理論式(遷移行列)\n", "def transition(t,p0):\n", " At = np.array([[np.cos(t), -np.sin(t)], [np.sin(t), np.cos(t)] ])*np.exp(-t)\n", " return np.dot(At,p0)" ] }, { "cell_type": "code", "execution_count": 38, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(figsize=(4, 4))\n", "\n", "w = 1.5\n", "Y, X = np.mgrid[-w:w:100j, -w:w:100j]\n", "\n", "U = A[0,0]*X + A[0,1]*Y\n", "V = A[1,0]*X + A[1,1]*Y\n", "\n", "t = np.arange(-1.5, 1.5, 0.01)\n", "# print('傾き',v[1,0]/v[0,0])\n", "# print('傾き',v[1,1]/v[0,1])\n", "\n", "# 固有空間のプロット\n", "if s.imag[0] == 0 and s.imag[1] == 0: #固有値が複素数の場合はプロットできない\n", " ax.plot(t, (v[1,0]/v[0,0])*t, ls='-.', color='k', lw=2)\n", " ax.plot(t, (v[1,1]/v[0,1])*t, ls='--', color='k', lw=2)\n", " \n", "ax.streamplot(X, Y, U, V, density=0.7, color='k', linewidth=0.5)\n", "\n", "ax.set_xlim(-1.5,1.5)\n", "ax.set_ylim(-1.5,1.5)\n", "ax.set_xticks(np.arange(-1.5, 1.51, step=0.5))\n", "ax.set_yticks(np.arange(-1.5, 1.51, step=0.5))\n", "ax.grid(ls = ':')\n", "plot_set(ax, '$x_1$', '$x_2$')\n", "\n", "T = np.arange(0,5,0.01)\n", "\n", "x=np.array( list(map(lambda t:transition(t,[0,1]), T))) \n", "ax.plot(x[:,0], x[:,1], lw=8, color='tab:orange', alpha=0.2) # 理論式との比較\n", "_, _, x = initial(sys, X0=[0,1], return_x=True)\n", "ax.plot(x[:,0], x[:,1], lw=1, color='r',) # シミュレーション結果\n", "\n", "x=np.array( list(map(lambda t:transition(t,[0,-1]), T))) \n", "ax.plot(x[:,0], x[:,1], lw=8, color='tab:orange', alpha=0.2)\n", "_, _, x = initial(sys, X0=[0,-1], return_x=True)\n", "ax.plot(x[:,0], x[:,1], lw=1, color='r')\n", "\n", "x=np.array( list(map(lambda t:transition(t,[1,-1]), T))) \n", "ax.plot(x[:,0], x[:,1], lw=8, color='tab:orange', alpha=0.2)\n", "_, _, x = initial(sys, X0=[1, -1], return_x=True)\n", "ax.plot(x[:,0], x[:,1], lw=1, color='r')\n", "\n", "x=np.array( list(map(lambda t:transition(t,[-1,1]), T))) \n", "ax.plot(x[:,0], x[:,1], lw=8, color='tab:orange', alpha=0.2)\n", "_, _, x = initial(sys, X0=[-1,1], return_x=True)\n", "ax.plot(x[:,0], x[:,1], lw=1, color='r')\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_4_phase_portrait.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "(2) ゼロ入力応答とゼロ状態応答の和" ] }, { "cell_type": "code", "execution_count": 39, "metadata": {}, "outputs": [], "source": [ "#理論式(ゼロ状態応答+ゼロ入力応答.時刻t,初期状態p0,定数入力u0)\n", "def total_response(t,p0,u0):\n", " At = np.array([np.cos(t), -np.sin(t)])*np.exp(-t)\n", " zero_input_response = np.dot(At, p0)\n", " zero_state_response = (np.exp(-t)*(np.sin(t) + np.cos(t)) - 1) /2 * u0\n", " return (zero_input_response + zero_state_response)" ] }, { "cell_type": "code", "execution_count": 40, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(figsize=(3, 2.3))\n", "\n", "T = np.arange(0,10.1,0.01)\n", "x0 = [0,1]\n", "\n", "# u(t)==0のとき\n", "y = np.array( list(map(lambda t:total_response(t,x0, 0), T))) # 理論式\n", "ax.plot(T, y, lw=6, color='c', alpha=0.2)\n", "y, _, _ = lsim(sys, U=0, X0=x0, T=T) # シミュレーション\n", "ax.plot(T, y, lw=1, color='b', label='$u(t)$=0') \n", "\n", "# u(t)==1のとき\n", "y = np.array( list(map(lambda t:total_response(t,x0, 1), T))) # 理論式\n", "ax.plot(T, y, lw=6, color='tab:orange', alpha=0.2)\n", "y, _, _ = lsim(sys, U=1, X0=x0, T=T) # シミュレーション\n", "ax.plot(T, y, lw=1, color='r', label='$u(t)$=1') \n", "\n", "\n", "ax.axhline(0, color=\"k\", linewidth=0.5) \n", "plot_set(ax, '$t$', '$y(t)$', 'best')\n", "ax.grid(ls = ':')\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_4_time_response.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 【5】 正弦波応答" ] }, { "cell_type": "code", "execution_count": 41, "metadata": {}, "outputs": [], "source": [ "G = tf([1], [1, 10])\n", "A = 5\n", "w0 = 100" ] }, { "cell_type": "code", "execution_count": 42, "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ "/Users/minami/opt/anaconda3/lib/python3.8/site-packages/control/timeresp.py:293: UserWarning: return_x specified for a transfer function system. Internal conversion to state space used; results may meaningless.\n", " warnings.warn(\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(1,1,figsize=(6,4)) \n", "absG = 1 / (10*np.sqrt(101)) # 絶対値\n", "argG = np.arctan(-10) # 偏角[rad]\n", "\n", "t = np.arange(0, 0.5, 0.001)\n", "u = A * np.sin(w0*t)\n", "y, t, x0 = lsim(G, u, t) # シミュレーション\n", "y_inf = A * absG * np.sin(w0*t + argG) # 定常正弦波応答の理論値\n", " \n", "# ax.plot(t, 0.01*u, ls='--', label='u', color='k')\n", "ax.plot(t, y, label='$y(t)$', ls='--', color='k')\n", "ax.plot(t, y_inf, label='$y(t)$ as $t$ tends to $\\infty$', color='k')\n", "ax.plot(t, 0*t, color='c')\n", "plot_set(ax, 't', 'y', 'best')\n", "\n", "fig.tight_layout()\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_5_sinusoids.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "code", "execution_count": 43, "metadata": { "id": "UKYjKNhm2yoN", "outputId": "a36c583d-1103-41a7-a82c-27197d079f65" }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(2, 1, figsize=(8, 7)) \n", "\n", "gain, phase, w = bode(G, logspace(-1,3), plot=False)\n", "ax[0].semilogx(w, 20*np.log10(gain), color='k', lw=1)\n", "ax[1].semilogx(w, phase*180/np.pi, color='k', lw=1)\n", "\n", "bodeplot_set(ax)\n", "ax[0].scatter(w0, 20*np.log10(absG), alpha=0.5, c='k')\n", "ax[1].scatter(w0, argG*180/np.pi, alpha=0.5, c='k')\n", "\n", "ax[0].semilogx(w, 0*w, c='c', ls='-', lw=1)\n", "ax[1].semilogx(w, -90*np.ones_like(w), c='c', ls='-', lw=1)\n", "ax[1].set_yticks([-90,0])\n", "\n", "fig.tight_layout()\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_5_Bode.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 【6】 Bode線図とベクトル軌跡" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "$G=G_0 G_1 G_2 G_3$と分解します." ] }, { "cell_type": "code", "execution_count": 44, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", "10\n", "--\n", "1\n", " \n", "1\n", "-\n", "s\n", " \n", " 1\n", "-----\n", "s + 1\n", " \n", " 10\n", "------\n", "s + 10\n", " \n", " 100\n", "-------------------\n", "s^3 + 11 s^2 + 10 s\n", "\n" ] } ], "source": [ "s = tf([1, 0],[1])\n", "G0 = tf([10],[1]) #伝達関数と認識させる\n", "G1 = 1/s\n", "G2 = 1/(s+1)\n", "G3 = 10/(s+10) #G3の定数ゲインを1にするために,分子に10を乗せておきます\n", "G = G0 * G1 * G2 * G3\n", "print(G0, G1, G2, G3, G)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "$G_0,G_1$のボード線図" ] }, { "cell_type": "code", "execution_count": 45, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(2, 1, figsize=(8, 7)) \n", "\n", "#ゲイン要素G0\n", "gain, phase, w = bode(G0, logspace(-3,3,1000), plot=False) \n", "ax[0].semilogx(w, 20*np.log10(gain), c='m', ls='-', lw=2)\n", "ax[1].semilogx(w, phase*180/np.pi, c='m', ls='-', lw=2, label='$G_0$')\n", "\n", "#積分要素G1\n", "gain, phase, w = bode(G1, logspace(-3,3,1000), plot=False) \n", "ax[0].semilogx(w, 20*np.log10(gain), c='g', ls='-', lw=2)\n", "ax[1].semilogx(w, phase*180/np.pi, c='g', ls='-', lw=2, label='$G_1$')\n", "\n", "ax[0].set_xlim([1e-3,1e3])\n", "ax[1].set_xlim([1e-3,1e3])\n", "ax[1].set_yticks([-90,-45,0])\n", "bodeplot_set(ax,'best')\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_6_Bode_decomp1.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "$G_2,G_3$のボード線図(折れ線近似)" ] }, { "cell_type": "code", "execution_count": 46, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(2, 1, figsize=(8, 7)) \n", "#1次遅れ要素G2\n", "gain, phase, w = bode(G2, logspace(-3,3,1000), plot=False) \n", "ax[0].semilogx(w, 20*np.log10(gain), c='b', ls='-', lw=2)\n", "ax[1].semilogx(w, phase*180/np.pi, c='b', ls='-', lw=2, label='$G_2$')\n", "# 折れ線近似\n", "ax[0].plot([1e-3,1e-0,1e3],[0,0,-60], c='b', ls=':', lw=1)\n", "ax[1].plot([1e-3, 1/5, 1*5, 1e3],[0,0,-90,-90], c='b', ls=':', lw=1)\n", "\n", "#1次遅れ要素G3\n", "gain, phase, w = bode(G3, logspace(-3,3,1000), plot=False) \n", "ax[0].semilogx(w, 20*np.log10(gain), c='r', ls='-', lw=2)\n", "ax[1].semilogx(w, phase*180/np.pi, c='r', ls='-', lw=2, label='$G_3$')\n", "# 折れ線近似\n", "ax[0].plot([1e-3,1e1,1e3],[0,0,-40], c='r', ls=':', lw=1)\n", "ax[1].plot([1e-3, 1e1/5, 1e1*5, 1e3],[0,0,-90,-90], c='r', ls=':', lw=1)\n", "\n", "ax[0].set_xlim([1e-3,1e3])\n", "ax[1].set_xlim([1e-3,1e3])\n", "ax[1].set_yticks([-90,-45,0])\n", "bodeplot_set(ax, 'best')\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_6_Bode_decomp2.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "全てを重ね合わせたものは以下のとおり." ] }, { "cell_type": "code", "execution_count": 47, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(2, 1, figsize=(8, 7)) \n", "\n", "gain, phase, w = bode(G, logspace(-3,3), plot=False)\n", "ax[0].semilogx(w, 20*np.log10(gain), color='k', lw=2)\n", "ax[1].semilogx(w, phase*180/np.pi, color='k', lw=2)\n", "# 折れ線近似\n", "ax[0].plot([1e-3,1e-0,1e1,1e3],[80,20,-20,-140], c='b', ls=':', lw=1)\n", "ax[1].plot([1e-3, 1/5, 10*5, 1e3],[-90,-90,-270,-270], c='b', ls=':', lw=1)\n", "\n", "bodeplot_set(ax)\n", "\n", "ax[0].semilogx(w, 0*w, c='c', ls='-', lw=0.5)\n", "ax[0].set_ylim([-150,100])\n", "ax[1].set_yticks([-270,-180,-90,0])\n", "\n", "fig.tight_layout()\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_6_Bode.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "ベクトル軌跡は以下のとおり" ] }, { "cell_type": "code", "execution_count": 48, "metadata": { "id": "8zAtNGIk2yoN", "outputId": "96309cb2-5682-4560-c952-c86a19b9bc89" }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(1,1,figsize=(6, 6)) \n", "\n", "x, y, _ = nyquist(G, logspace(-3,3,1000), plot=False)\n", "\n", "ax.plot(x, y, c='k', ls='-', lw=2)\n", "\n", "ax.grid(ls=':', lw=0.5)\n", "ax.set_xlabel('Re')\n", "ax.set_ylabel('Im')\n", " \n", "ax.set_xlim(-20,20)\n", "ax.set_ylim(-20, 20)\n", "\n", "#点0\n", "ax.scatter(0, 0, color='k')\n", "ax.annotate('$O$', xy=(1, 0), size=15)\n", "\n", "if (is_savefig):\n", " fig.savefig(figpath+\"ans/ch3_6_Vector.pdf\", transparent=True, bbox_inches=\"tight\", pad_inches=0.0)" ] } ], "metadata": { "colab": { "name": "chap07.ipynb", "provenance": [] }, "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.5" } }, "nbformat": 4, "nbformat_minor": 4 }