The building block of a PySim simulation is the system, of which there are three variants.
C++ systems, which are build with a c++ compiler linked to the pysim libraries.
Python systems. They are much slower than the c++ systems, but also probably much faster to create.
Composite systems that consists of a collection of the systems above bundled together.
When using a system it looks and feels very much the same, regardless of which the above types it belongs to. But the creation of the system is ofcourse different, and below we will go trough how to create a system of each type.
Creating a Python System
To create a Python system you will inherit from the
class and setup the system in its
__init__ function. If, for example,
you would like to create a system that simulates a
Van der Pol Oscillator
you would create a class like the one below.
from pysim.cythonsystem import Sys class VanDerPol(Sys): """Simple example of a class representing a VanDerPol oscillator. """ def __init__(self): #declare states and inputs self.add_state("x", "dx") self.add_state("y", "dy") self.add_input("a") self.add_input("b") #set default values self.inputs.a = 1.0 self.inputs.b = 1.0 self.states.x = 1.0 self.states.y = 0.0
It inherits from pysim.cythonsystem.sys, and sets up the system in the init
function. First two states x and y are declared together with their
respective derivatives. Then two scalar inputs, a and b are declared.
When these inputs and states are declared they are automatically added to
self.states structs. These structs can be
set and read from within the object as well as from outside of it.
Finally the default values for all inputs and states are set by setting
the values in these structs.
We now have a system with states and inputs, but we want the system to actually do something. In particular we want the system to calculate the derivatives based on the states and the inputs. The equations of a Van der Pol oscillator can be written as
These equations should be evaluated for each time step in the simulation. This
evaluation is done in the
do_step function which thus must be defined
in our class. To make the coded equations more readable in our function the
auxiliary variables a,b,x,y are introduced and set to the respective inputs
and states. Then the derivatives are calculated.
def do_step(self,dummy): """Perform a timestep by implmenting the VanDerPol equations""" a = self.inputs.a b = self.inputs.b x = self.states.x y = self.states.y self.ders.dx = a*x*(b-y*y)-y self.ders.dy = x
Thats it, we now have a complete system for simulating a Van der Pol oscillator. The complete source code can be found at github here.
Creating a Composite System
A Composite System is created by inhering from the
pysim.compositesystem.CompositeSystem class and
setting up the system in its init function.
The systems that make up the compositesystem are added to it
with the function
add_subsystem, taking the system and the name of
the subsystem as inputs.To enable “outside” system to connect to and from the
composite systems ports are added to it with the functions
add_output_port. These functions take the name of the port (the name
of the input of the composite system), the name of the subsystem the port
shall be connected to internally, and the name of the input of that system.
The last argument is a description of the port
If you, for example want to create a composite system that is made up of two systems, a mass-spring-damper system and a square wave system that will drive the former system you create a class looking like below
class ControlledSpring(CompositeSystem): """System with a mass-spring-damper driven by a square wave. The square wave is applied as a force acting on the mass, driving it up and down. The amplitude of the square wave can be set with the input 'amp' and the position of the mass can be read from the output 'pos'. """ def __init__(self): #Create the two subsystems msd = MassSpringDamper() self.add_subsystem(msd,"msd") wave_sys = SquareWave() self.add_subsystem(wave_sys,"wave_sys") #connect the internal subsystems wave_sys.connections.add_connection("signal", msd, "f") #make parts of the subsystems available from outside this composite system self.add_input_port("amp","wave_sys","amplitude", "amplitude of wave") self.add_output_port("pos","msd","x1", "position")
The two subsystems are first created individually and connected as usual. They are then added to the composite system, and finally some of the inputs and outputs are exposed to the composite system interface.
This composite system will now behave as any other system from the outside.
It will have one input
amp and one output
Creating a C++ System
While its very easy to create a composite or a python system c++ systems are a little harder since they are compiled and the compiler needs links to pysim. Until a better description is available the best way to create a c++ system is to clone the template found at github in the pysim-system-template repository and use that as a starting point. It contains a python system as well as a c++ system that can be modified. Assuming you have installed pysim the systems and clone the template systems it can be built by typing
python setup.py build_ext