Coverage for  / opt / hostedtoolcache / Python / 3.11.14 / x64 / lib / python3.11 / site-packages / rattlesnake / components / abstract_control_law.py: 100%

1# -*- coding: utf-8 -*- 

2""" 

3Abstract base law that new Random Vibration Environment control laws can inherit 

4from. 

5 

6Rattlesnake Vibration Control Software 

7Copyright (C) 2021 National Technology & Engineering Solutions of Sandia, LLC 

8(NTESS). Under the terms of Contract DE-NA0003525 with NTESS, the U.S. 

9Government retains certain rights in this software. 

10 

11This program is free software: you can redistribute it and/or modify 

12it under the terms of the GNU General Public License as published by 

13the Free Software Foundation, either version 3 of the License, or 

14(at your option) any later version. 

15 

16This program is distributed in the hope that it will be useful, 

17but WITHOUT ANY WARRANTY; without even the implied warranty of 

18MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 

19GNU General Public License for more details. 

20 

21You should have received a copy of the GNU General Public License 

22along with this program. If not, see <https://www.gnu.org/licenses/>. 

23""" 

24 

25from abc import ABC, abstractmethod 

26import numpy as np 

27 

28 

29class AbstractControlClass(ABC): 

30 """Abstract class to define a random vibration control law""" 

31 

32 @abstractmethod 

33 def __init__( 

34 self, 

35 specification: np.ndarray, # The specification to control to 

36 warning_levels: np.ndarray, # Warning threshold levels 

37 abort_levels: np.ndarray, # Abort levels 

38 extra_control_parameters: str, # Extra parameters specified by the controller 

39 transfer_function: np.ndarray = None, # Transfer Functions 

40 buzz_cpsd: np.ndarray = None, # Buzz test in case cross terms are to be computed 

41 last_response_cpsd: np.ndarray = None, # Last Response for Error Correction 

42 last_output_cpsd: np.ndarray = None, # Last output for Drive-based control 

43 ): 

44 """ 

45 Initializes the control law 

46 

47 Note that to facilitate the updating of the control law while the test 

48 is running, the init function will take all control data. If control 

49 is not running, these will be Nones. 

50 

51 Parameters 

52 ---------- 

53 specification : np.ndarray 

54 A complex 3d numpy ndarray with dimensions frequency lines x control 

55 channels x control channels representing the specification defined 

56 by a CPSD matrix 

57 warning_levels : np.ndarray 

58 A real 2D numpy ndarray with dimensions frequency lines x control 

59 channels representing ASD levels at which the system is approaching 

60 abort. Control law authors may wish to use this threshold to make 

61 changes in their control law. 

62 abort_levels : np.ndarray 

63 A real 2D numpy ndarray with dimensions frequency lines x control 

64 channels representing ASD levels at which the system will abort. 

65 Control law authors may wish to use this threshold to make 

66 changes in their control law to prevent producing a signal that 

67 would force the system to abort. 

68 extra_control_parameters : str 

69 A string containing any extra parameters that might need to be 

70 passed to the control law. This should be parsed by the __init__ 

71 function. 

72 transfer_function : np.ndarray, optional 

73 A complex 3d numpy ndarray with dimensions frequency lines x control 

74 channels x excitation sources representing the FRF matrix measured 

75 by the system identification process between drive voltages and 

76 control response. Will only be passed if the control is switched 

77 mid-run. The default is None. 

78 buzz_cpsd : np.ndarray, optional 

79 A complex 3d numpy ndarray with dimensions frequency lines x control 

80 channels x control channels representing the CPSD matrix measured 

81 by the system identification process. Will only be passed if the 

82 control is switched mid-run. The default is None. 

83 last_response_cpsd : np.ndarray, optional 

84 A complex 3d numpy ndarray with dimensions frequency lines x control 

85 channels x control channels representing the last CPSD matrix of 

86 control channel responses. Will only be passed if the 

87 control is switched mid-run. The default is None. 

88 last_output_cpsd : np.ndarray, optional 

89 A complex 3d numpy ndarray with dimensions frequency lines x drive 

90 channels x drive channels representing the last CPSD matrix of 

91 drive outputs. Will only be passed if the 

92 control is switched mid-run. The default is None. 

93 """ 

94 

95 @abstractmethod 

96 def system_id_update( 

97 self, 

98 transfer_function: np.ndarray, # The transfer function from the system identification 

99 buzz_cpsd: np.ndarray, # The CPSD from the system identification 

100 ): 

101 """ 

102 Updates the control law with the data from the system identification 

103 

104 Parameters 

105 ---------- 

106 transfer_function : np.ndarray 

107 A complex 3d numpy ndarray with dimensions frequency lines x control 

108 channels x excitation sources representing the FRF matrix measured 

109 by the system identification process between drive voltages and 

110 control response 

111 buzz_cpsd : np.ndarray 

112 A complex 3d numpy ndarray with dimensions frequency lines x control 

113 channels x control channels representing the CPSD matrix measured 

114 by the system identification process 

115 

116 """ 

117 

118 @abstractmethod 

119 def control( 

120 self, 

121 transfer_function: np.ndarray, # The last update of the transfer function 

122 last_response_cpsd: np.ndarray = None, # Last Response for Error Correction 

123 last_output_cpsd: np.ndarray = None, # Last output for Drive-based control 

124 ) -> np.ndarray: 

125 """ 

126 Perform the control operations 

127 

128 Parameters 

129 ---------- 

130 transfer_function : np.ndarray 

131 A complex 3d numpy ndarray with dimensions frequency lines x control 

132 channels x excitation sources representing the FRF matrix measured 

133 by the system identification process between drive voltages and 

134 control response 

135 last_response_cpsd : np.ndarray 

136 A complex 3d numpy ndarray with dimensions frequency lines x control 

137 channels x control channels representing the last CPSD matrix of 

138 control channel responses. If no previous data exists (first time 

139 through control) it will be None. The default is None. 

140 last_output_cpsd : np.ndarray 

141 A complex 3d numpy ndarray with dimensions frequency lines x drive 

142 channels x drive channels representing the last CPSD matrix of 

143 drive outputs. If no previous data exists (first time 

144 through control) it will be None. The default is None. 

145 

146 Returns 

147 ------- 

148 next_output_cpsd : np.ndarray 

149 A complex 3d numpy ndarray with dimensions frequency lines x drive 

150 channels x drive channels representing the new CPSD matrix of 

151 drive outputs that should be played to the shakers. If None is 

152 returned instead, it will signal the software to shut down. 

153 """