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‎components/__init__.py‎

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# -*- coding: utf-8 -*-
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"""
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__init__.py file to bring in the necessary portions of each of the subsystems.
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Loads in some utilities functions as well as specific environments components
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that are needed. It finally imports the processes for streaming, output, and
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acquisition.
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Rattlesnake Vibration Control Software
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Copyright (C) 2021 National Technology & Engineering Solutions of Sandia, LLC
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(NTESS). Under the terms of Contract DE-NA0003525 with NTESS, the U.S.
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Government retains certain rights in this software.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <https://www.gnu.org/licenses/>.
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"""
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from .utilities import VerboseMessageQueue
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from .user_interface import Ui,QueueContainer
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from .ui_utilities import ControlSelect,EnvironmentSelect
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# Import environment processes
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from .environments import environment_processes as all_environment_processes
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from .environments import environment_UIs as all_environment_UIs
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from .environments import ControlTypes
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from .acquisition import acquisition_process
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from .output import output_process
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from .streaming import streaming_process

‎components/abstract_control_law.py‎

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# -*- coding: utf-8 -*-
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"""
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Abstract base law that new Random Vibration Environment control laws can inherit
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from.
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Rattlesnake Vibration Control Software
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Copyright (C) 2021 National Technology & Engineering Solutions of Sandia, LLC
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(NTESS). Under the terms of Contract DE-NA0003525 with NTESS, the U.S.
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Government retains certain rights in this software.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <https://www.gnu.org/licenses/>.
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"""
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from abc import ABC,abstractmethod
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import numpy as np
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class AbstractControlClass(ABC):
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@abstractmethod
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def __init__(self,specification : np.ndarray, # The specification to control to
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extra_control_parameters : str, # Extra parameters specified by the controller
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transfer_function : np.ndarray = None, # Transfer Functions
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buzz_cpsd : np.ndarray = None, # Buzz test in case cross terms are to be computed
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last_response_cpsd : np.ndarray = None, # Last Response for Error Correction
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last_output_cpsd : np.ndarray = None, # Last output for Drive-based control
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):
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"""
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Initializes the control law
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Note that to facilitate the updating of the control law while the test
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is running, the init function will take all control data. If control
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is not running, these will be Nones.
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Parameters
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----------
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specification : np.ndarray
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A complex 3d numpy ndarray with dimensions frequency lines x control
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channels x control channels representing the specification defined
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by a CPSD matrix
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extra_control_parameters : str
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A string containing any extra parameters that might need to be
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passed to the control law. This should be parsed by the __init__
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function.
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transfer_function : np.ndarray, optional
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A complex 3d numpy ndarray with dimensions frequency lines x control
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channels x excitation sources representing the FRF matrix measured
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by the system identification process between drive voltages and
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control response. Will only be passed if the control is switched
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mid-run. The default is None.
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buzz_cpsd : np.ndarray, optional
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A complex 3d numpy ndarray with dimensions frequency lines x control
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channels x control channels representing the CPSD matrix measured
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by the system identification process. Will only be passed if the
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control is switched mid-run. The default is None.
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last_response_cpsd : np.ndarray, optional
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A complex 3d numpy ndarray with dimensions frequency lines x control
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channels x control channels representing the last CPSD matrix of
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control channel responses. Will only be passed if the
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control is switched mid-run. The default is None.
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last_output_cpsd : np.ndarray, optional
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A complex 3d numpy ndarray with dimensions frequency lines x drive
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channels x drive channels representing the last CPSD matrix of
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drive outputs. Will only be passed if the
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control is switched mid-run. The default is None.
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"""
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pass
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@abstractmethod
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def system_id_update(self,transfer_function : np.ndarray, # The transfer function from the system identification
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buzz_cpsd : np.ndarray # The CPSD from the system identification
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):
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"""
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Updates the control law with the data from the system identification
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Parameters
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----------
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transfer_function : np.ndarray
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A complex 3d numpy ndarray with dimensions frequency lines x control
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channels x excitation sources representing the FRF matrix measured
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by the system identification process between drive voltages and
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control response
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buzz_cpsd : np.ndarray
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A complex 3d numpy ndarray with dimensions frequency lines x control
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channels x control channels representing the CPSD matrix measured
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by the system identification process
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"""
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pass
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@abstractmethod
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def control(self,transfer_function : np.ndarray, # The last update of the transfer function
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last_response_cpsd : np.ndarray = None, # Last Response for Error Correction
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last_output_cpsd : np.ndarray = None # Last output for Drive-based control
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) -> np.ndarray:
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"""
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Perform the control operations
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Parameters
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----------
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transfer_function : np.ndarray
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A complex 3d numpy ndarray with dimensions frequency lines x control
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channels x excitation sources representing the FRF matrix measured
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by the system identification process between drive voltages and
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control response
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last_response_cpsd : np.ndarray
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A complex 3d numpy ndarray with dimensions frequency lines x control
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channels x control channels representing the last CPSD matrix of
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control channel responses. If no previous data exists (first time
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through control) it will be None. The default is None.
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last_output_cpsd : np.ndarray
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A complex 3d numpy ndarray with dimensions frequency lines x drive
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channels x drive channels representing the last CPSD matrix of
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drive outputs. If no previous data exists (first time
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through control) it will be None. The default is None.
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Returns
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-------
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next_output_cpsd : np.ndarray
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A complex 3d numpy ndarray with dimensions frequency lines x drive
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channels x drive channels representing the new CPSD matrix of
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drive outputs that should be played to the shakers.
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"""
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pass

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