public void Run()
{
OpenLoop loop = new OpenLoop(system, controller);
Simulate.Step(loop, 10d, 0.1d);
data = loop.Data;
}
public void Run()
{
CloseLoop loop = new CloseLoop(system, controller);
Simulate.Step(loop, 1d, 0.01d);
data = loop.Data;
}
public void Run()
{
BareSystem loop = new BareSystem(system);
Simulate.Step(loop, 16d, 0.1d);
data = loop.Data;
}
public void Run()
{
BareSystem loop = new BareSystem(GetSystem());
Simulate.Step(loop, 15d, 0.01d);
data = loop.Data;
}
public void CloseLoopTest()
{
var reference = ReferenceDataLoader.Load(projectPath + @"/LoopReferenceData/Close/reference_data.txt");
CloseLoop loop = new CloseLoop(system, controller);
Simulate.Step(loop, 2d, 0.1d);
Assert.True(OutputSamplesComparator.Compare(reference, loop.Data));
}
public void BareSystemTest()
{
var reference = ReferenceDataLoader.Load(projectPath + @"\LoopReferenceData\Bare\reference_data.txt");
BareSystem loop = new BareSystem(system);
Simulate.Step(loop, 10d, 0.1d);
Assert.True(OutputSamplesComparator.Compare(reference, loop.Data));
}
public void Run()
{
ContinousSecondOrder model = new ContinousSecondOrder(2d, 1d, 1d);
var system = new ContinousSystem(model, GetSolver(), new Vector(new double[] { -1d, -4d }));
BareSystem loop = new BareSystem(system);
Simulate.Step(loop, 20d, 0.1d);
data = loop.Data;
}
public void Run()
{
ContinousSecondOrder model = new ContinousSecondOrder(2d, 1d, 3d);
ContinousSystem system = new ContinousSystem(model, new SolverRK4(), Vector.Zeros(2));
CloseLoop loop = new CloseLoop(system, GetController());
Simulate.Step(loop, 20d, 0.01d);
data = loop.Data;
}
public void Run()
{
ControlSystem loop = new ControlSystem(system, controller);
loop.mode = ControlSystemMode.OpenLoop;
var toggler = new ControlSystemModeToggler(loop.mode, 3d, 6d);
Simulate.Step(loop, 10d, 0.01d, (iteration, time) =>
{
loop.mode = toggler.GetMode(time);
});
data = loop.Data;
}
public void ControlSystemTest()
{
var reference = ReferenceDataLoader.Load(projectPath + @"/LoopReferenceData/Control/reference_data.txt");
ControlSystem loop = new ControlSystem(system, controller);
Simulate.Step(loop, 4d, 0.1d, (iteration, time) => {
if (iteration == 20)
{
loop.mode = ControlSystemMode.OpenLoop;
}
});
Assert.True(OutputSamplesComparator.Compare(reference, loop.Data));
}