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Defining signals as vectors #1008
Replies: 3 comments 3 replies
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Another example of how vector signals would be used, in the outputs naming: forces_moments = ct.interconnect(
(aerodynamics, propulsion, gravity, sum_forces_moments),
name="forces_moments",
connections=[
# input <- output
['sum_forces_moments.u[:6]', 'aerodynamics.y'],
['sum_forces_moments.u[6:12]', 'propulsion.y'],
['sum_forces_moments.u[12:15]', 'gravity.y'],
],
inplist = ['aerodynamics.coef'],
outlist = ['sum_forces_moments.y', 'aerodynamics.y[:3]'],
outputs = ['F_total[3]', 'M_total[3]', 'F_aero[3]']
) |
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It would be great to get some additional processing of vector signals. A few notes on the above:
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The idea of F_total[3] followed by M_total[3] was to map the first three elements of sum_forces_moments.y to F_total, then the next three to M_total. Will keep thinking about vector signal assignments as my project gets bigger. It seems like the input comes first when using the connections keyword. If you run the script in #1009 but switch the connection order, you get |
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Adding a note to also think about the case when one input to an interconnected system needs to be accessed by multiple subsystems. For example, what if each of the aerodynamics, propulsion, and gravity models needs access to the vehicle rigid body state vector? Currently, the state vector would have to be connected to the interconnected system 3 separate times (which could be a list 36+ items long) |
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What I see a lot of people doing, and what I typically do when using python-control for classes, is to name the signals in a way that allows automatic interconnection (no List comprehensions can also be helpful, if the names are all the same. So something like: could work. |
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That tip about automatic connections was a game changer for writing a large sim with simple code. Thanks! |
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It seems like signals can only be defined by giving an integer count (in which case the signals are named with 'u', 'y', or 'x'), or by naming individual vector components. Is it possible to specify vector signals, like:
airplane = ct.nlsys(updfcn=dynamics, outfcn=None, inputs=('forces[3]', 'moments[3]'), outputs=...Would it be difficult for me to add this feature?
From the documentation:
inputs (int, list of str or None, optional) – Description of the system inputs. This can be given as an integer count or as a list of strings that name the individual signals. If an integer count is specified, the names of the signal will be of the form s[i] (where s is one of u, y, or x)
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