here - Roberto Bucher

DTI / ISEA / LSM / Titolo principale della presentazione
CACSD with Python
Prof. Roberto Bucher
SUPSI - ISEA – SMT
Rapperswil 28.01.2014
SGA Meeting und
Preisübergabe Förderpreis 2013
DTI / ISEA / LSM / Titolo principale della presentazione
Outline
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Introduction
CACSD environment
Python
Examples
Comparison Matlab – Scicoslab -Python
Code generation
Conclusions
DTI / ISEA / LSM / Titolo principale della presentazione
Introduction
• Matlab / Simulink are “de facto” THE TOOLS in education
• But...
– What happens wenn our (ex-) students have to develop
advanced control systems in little companies?
– Mathworks licenses are too expensive for most little
companies!
DTI / ISEA / LSM / Titolo principale della presentazione
CACSD - Matlab alternatives
CACSD Tool
Matrix/Algebra
Hybrid Simulator
Discrete
Events
Code generation
for emb. Sys.
Matlab
✔ Matlab
✔ Simulink
✔ Stateflow
✔ RTW
Scicoslab/NSP
✔ Scilab
✔ Scicos
✔ SMCube1
Scilab
✔ Scilab
✔ xCos
-
(-)3
Octave
✔ Matlab like
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1 Commercial
Free + Commercial (RTAICodeGen, E4Coder)
3
Modified RTAICodeGen, Scilab 6.x
2
✔
2
DTI / ISEA / LSM / Titolo principale della presentazione
CACSD - Matlab alternatives
CACSD Tool
Matrix/Algebra
Hybrid Simulator
Discrete
Events
Code generation
for emb. Sys.
Matlab
✔ Matlab
✔ Simulink
✔ Stateflow
✔ RTW
Scicoslab/NSP
✔ Scilab
✔ Scicos
✔ SMCube1
Scilab
✔ Scilab
✔ xCos
-
(-)3
Octave
✔ Matlab like
-
-
-
Python
✔
(✔)
Simpy4
(✔)
1 Commercial
Free + Commercial (RTAICodeGen, E4Coder)
3
Modified RTAICodeGen, Scilab 6.x
4
No graphical editor
2
✔
2
DTI / ISEA / LSM / Titolo principale della presentazione
Python
DTI / ISEA / LSM / Titolo principale della presentazione
Python
• Python is a general-purpose, high-level, object
oriented programming language similar to Matlab,
Scicoslab, Scilab and Octave.
• Its implementation was started in December 1989
(Guido van Rossum at Centrum Wiskunde &
Informatica in the Netherlands)
• Python is often used as a scripting language, but
is also used in a wide range of non-scripting
contexts.
• Distributed under the Python Software Foundation
License (PSFL) similar to BSD license.
• Very large community of developers!
DTI / ISEA / LSM / Titolo principale della presentazione
Python
• Numpy
numeric array
• Scipy
scientific functions
– FFT, Integrate, Interpolate, Optimize, Signal, Sparse,
Statistic
• Matplotlib
Plot functions
• PyQt
Integration with Qt Libraries
• Python-Qwt5
Integration with Qt Widgets
• ...
• Python Control Systems Library (python-control)
DTI / ISEA / LSM / Titolo principale della presentazione
Python for Matlab users
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The python scripting language is similar to Matlab
– http://wiki.scipy.org/NumPy_for_Matlab_Users
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Main differencies:
– Indexing (Python is 0 based!)
– Array/Matrix distinction (linear algebra operations!)
– Importing of functions
• from np.linalg import *
• from control.matlab import ss, tf
DTI / ISEA / LSM / Titolo principale della presentazione
Python Control Systems Library (python-control)
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2009-2011
– Richard Murray1 – Caltech
• Control-0.3a
– Continous Time systems
– SISO Systems
2011
– Roberto Bucher (SUPSI)
• yottalab.py
– MIMO systems
– Discrete Time systems (Field Tsamp!)
– Set of functions to handle discrete time systems.
– Design of complex discrete controllers was possible!
– yottalab.py distributed with control toolbox as separate toolbox
1
Aström and Murray – Feedback Systems
DTI / ISEA / LSM / Titolo principale della presentazione
Python Control Systems Library (python-control)
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Situation 2014
– Richard Murray (Caltech)
• Control-0.6c
– Some ideas and functions migrated from yottalab to python-control
– Discrete Time systems (dt: sampling time)
– Functions related to discrete time systems
– Roberto Bucher (SUPSI)
• Supsictrl
– yottalab.py
» Few functions not cleanly implemented by Richard Murray
» Some additional functions to simplify the controller design (observer, reduced
order observer, controllers in compact form, anti windup design, etc.)
– RCPblk.py
» Toolbox for Rapid Controller Prototyping, hybrid simulation and Code generation
for RT systems
DTI / ISEA / LSM / Titolo principale della presentazione
Python for control – Other related projects
•
Ryan Krauss (Southern Illinois University Edwardsville)
– controls.py
• Some routines related to transfer functions (continous and discrete) only for
education purposes.
•
Python control systems, with only one developper, Rafael G. Martins (only for
education purposes)
Stephen Boyd and Lieven Vandenberghe are now mostly developing
optimization libraries, but a few applications specific to control systems can be
found on their page
•
DTI / ISEA / LSM / Titolo principale della presentazione
Python for Control
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Files
– Ipython
– Numpy
– Scipy
– Matplotlib
– Avventi Slycot
– Control-0.6c
– Yottalab.py
– RCPblk.py
– pyBlockEdit
DTI / ISEA / LSM / Titolo principale della presentazione
Python for Control
•
Files
– Ipython
– Numpy
– Scipy
– Matplotlib
– Avventi Slycot
– Control-0.6c
– Yottalab.py
– RCPblk.py
– pyBlockEdit
DTI / ISEA / LSM / Titolo principale della presentazione
Python for Control
•
Files
– Ipython
– Numpy
– Scipy
– Matplotlib
– Avventi Slycot
– Control-0.6c
– Yottalab.py
– RCPblk.py
– pyBlockEdit
DTI / ISEA / LSM / Titolo principale della presentazione
Python for Control
•
Files
– Ipython
– Numpy
– Scipy
– Matplotlib
– Avventi Slycot
– Control-0.6c
– Yottalab.py
– RCPblk.py
– pyBlockEdit
DTI / ISEA / LSM / Titolo principale della presentazione
Comparison Matlab / Scicoslab / Python
DTI / ISEA / LSM / Titolo principale della presentazione
Matlab + Simulink
DTI / ISEA / LSM / Titolo principale della presentazione
Matlab + Simulink
DTI / ISEA / LSM / Titolo principale della presentazione
Scicoslab + Modelica
DTI / ISEA / LSM / Titolo principale della presentazione
Scicoslab + Modelica
DTI / ISEA / LSM / Titolo principale della presentazione
Scicoslab + Modelica
DTI / ISEA / LSM / Titolo principale della presentazione
Python
Demo 1
DTI / ISEA / LSM / Titolo principale della presentazione
Python + CodeGen + Simulation
fname = 'disks'
genCode(fname,4,0.01,[sq1, Plant, contr, prnt])
genMake(fname)
DTI / ISEA / LSM / Titolo principale della presentazione
Python + CodeGen + Simulation
fname = 'disks'
genCode(fname,4,0.01,[sq1, Plant, contr, prnt])
genMake(fname)
DTI / ISEA / LSM / Titolo principale della presentazione
Python + CodeGen + Simulation
fname = 'disks'
genCode(fname,4,0.01,[sq1, Plant, contr, prnt])
genMake(fname)
DTI / ISEA / LSM / Titolo principale della presentazione
Code generation
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Find the right block sequence
Generate the C code with 3
functions:
– Init
• Initialization
– ISR
• Outputs update
• States update
– Termination
DTI / ISEA / LSM / Titolo principale della presentazione
Code generation
Standard C-Code
DsPIC board
Linux ARM
PC with Linux RTAI
or PREEMPT RT
DTI / ISEA / LSM / Titolo principale della presentazione
Python
Demo 2
DTI / ISEA / LSM / Titolo principale della presentazione
Real-time execution
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State feedback controller with integral part
Code generated from Python as PREEMPT_RT executable
10 ms Sampling time
DTI / ISEA / LSM / Titolo principale della presentazione
Real-time execution
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State feedback controller with integral part
Code generated from Python as PREEMPT_RT executable
10 ms Sampling time
DTI / ISEA / LSM / Titolo principale della presentazione
Real-time execution
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•
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State feedback controller with integral part
Code generated from Python as PREEMPT_RT executable
10 ms Sampling time
DTI / ISEA / LSM / Titolo principale della presentazione
Conclusions
• Which alternatives to Matlab / Simulink / RTW?
• Python for control is promising, but not enough mature yet
• Python control is an education toolbox, but not ready for industrial
development
• But
Freedom to develop what we want and need
• Urgent
– Rewrite some functions (ex. Pole placement for MIMO system
gives bad results)
– Graphical editor for block diagram!
DTI / ISEA / LSM / Titolo principale della presentazione
Questions?

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