control.friction_backlash_nonlinearity
- class control.friction_backlash_nonlinearity(b)[source]
Bases:
DescribingFunctionNonlinearity
Backlash nonlinearity for describing function analysis.
This class creates a nonlinear function representing a friction-dominated backlash nonlinearity ,including the describing function for the nonlinearity. The following call creates a nonlinear function suitable for describing function analysis:
F = friction_backlash_nonlinearity(b)
This function maintains an internal state representing the ‘center’ of a mechanism with backlash. If the new input is within b/2 of the current center, the output is unchanged. Otherwise, the output is given by the input shifted by b/2.
Examples
>>> nl = ct.friction_backlash_nonlinearity(2) # backlash of +/- 1 >>> nl(0) 0 >>> nl(1) # not enough to overcome backlash 0 >>> nl(2) 1.0 >>> nl(1) 1.0 >>> nl(0) # not enough to overcome backlash 1.0 >>> nl(-1) 0.0
Methods
Return the describing function for a nonlinearity.