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s-celles/slew_rate_limiter.py

Created February 29, 2024 13:29
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Revisions

  1. Sébastien Celles revised this gist Feb 29, 2024. No changes.
  2. Sébastien Celles created this gist Feb 29, 2024.
    38 changes: 38 additions & 0 deletions slew_rate_limiter.py
    View file
    Original file line number Diff line number Diff line change
    @@ -0,0 +1,38 @@
    class SlewRateLimiter:
    def __init__(self, slew_rate, neg_slew_rate=None, t_init=0, y_init=0.0):
    self.slew_rate = slew_rate
    if neg_slew_rate is None:
    self.neg_slew_rate = -slew_rate
    else:
    self.neg_slew_rate = neg_slew_rate
    self.t = t_init
    self.y = y_init

    def process(self, t, y):
    delta_t = t - self.t
    if delta_t != 0:
    rate = (y - self.y) / delta_t
    clamped_rate = clamp(rate, self.neg_slew_rate, self.slew_rate)
    new_y = self.y + clamped_rate * delta_t
    else:
    new_y = y
    self.t = t
    self.y = new_y
    return new_y


    import numpy as np
    import matplotlib.pyplot as plt

    T = np.arange(start=-1.0, stop=10.0, step=0.01)
    t0, t1 = 1.0, 6.0
    U = U0 * (np.heaviside(T - t0, 0.5) - np.heaviside(T - t1, 0.5))
    slew_rate = SlewRateLimiter(1.0, neg_slew_rate=-0.75)
    Y = []
    for i, t in enumerate(T):
    Y.append(slew_rate.process(t, U[i]))
    plt.plot(T, U, label="u")
    plt.plot(T, Y, label="y", linestyle='--')
    plt.xlabel("Temps (s)")
    plt.ylabel("Signal")
    plt.legend()