| | import streamlit as st |
| | import numpy as np |
| | import matplotlib.pyplot as plt |
| | import pandas as pd |
| | from scipy import linalg |
| | import plotly.graph_objects as go |
| | from plotly.subplots import make_subplots |
| | import time |
| | from simulation import run_simulation |
| |
|
| | def show_robot_tp(): |
| | """Interface pour le TP du robot souple""" |
| | |
| | st.header("🤖 TP - Pilotage d'un Robot Souple") |
| | |
| | |
| | st.markdown(""" |
| | ### Système étudié : Poutre encastrée-libre |
| | |
| | **Caractéristiques** : |
| | - Longueur : 500 mm |
| | - Section : 5×5 mm |
| | - Matériau : Aluminium (E=70 GPa) |
| | - Point d'action : A (effort appliqué) |
| | - Point de mesure : B (déplacement désiré) |
| | |
| | **Objectif** : Commander la trajectoire de B en utilisant uniquement la mesure en A |
| | """) |
| | |
| | |
| | col1, col2, col3 = st.columns(3) |
| | |
| | with col1: |
| | st.markdown("### Paramètres géométriques") |
| | nstep = st.slider("Nombre de pas", 100, 2000, 1000) |
| | delta = st.slider("Pas de temps", 0.001, 0.1, 0.01, 0.001) |
| | L = st.slider("Longueur (mm)", 100, 1000, 500) |
| | a = st.slider("Largeur section", 1, 10, 5) |
| | b = st.slider("Hauteur section", 1, 10, 5) |
| | nx = st.slider("Nombre d'éléments", 5, 20, 10) |
| | |
| | with col2: |
| | st.markdown("### Paramètres de contrôle") |
| | control_type = st.selectbox("Type de contrôle", |
| | ["pid", "kalman", "pid_kalman"], |
| | format_func=lambda x: {"pid": "PID seul", "kalman": "Kalman seul", "pid_kalman": "PID + Kalman"}[x]) |
| | |
| | meas_location = st.selectbox("Position de mesure", ["A", "B"], |
| | format_func=lambda x: f"Point {x}") |
| |
|
| | Kp = 0.5 |
| | Ki = 0.1 |
| | Kd = 0.01 |
| | if control_type in ['pid', 'pid_kalman']: |
| | Kp = st.slider("Kp", 0.0, 1.0, 0.5, 0.01) |
| | Ki = st.slider("Ki", 0.0, 1.0, 0.1, 0.01) |
| | Kd = st.slider("Kd", 0.0, 1.0, 0.01, 0.001) |
| | |
| | with col3: |
| | st.markdown("### Bruit") |
| | q = st.slider("Bruit force (q)", 1e-6, 1e-3, 1e-4, 1e-6, format="%.2e") |
| | r = st.slider("Bruit mesure (r)", 1e-6, 1e-3, 1e-4, 1e-6, format="%.2e") |
| | |
| | E = st.slider("Module Young (MPa)", 10000, 100000, 70000) |
| | rho = st.slider("Densité", 1e-9, 1e-8, 2.7e-9, 1e-10, format="%.2e") |
| | cy = st.slider("Amortissement", 1e-5, 1e-3, 1e-4, 1e-5, format="%.2e") |
| | |
| | |
| | if st.button("🚀 Lancer la simulation", type="primary"): |
| | time0, ixe, u, v, a_sim, e_set, fA = run_simulation(nstep, delta, q, r, T=3, Kp=Kp if 'Kp' in locals() else 0.5, |
| | Ki=Ki if 'Ki' in locals() else 0.1, Kd=Kd if 'Kd' in locals() else 0.01, |
| | mu=0.01, beta=0.25, gamma=0.5, L=L, a=a, b=b, E=E, rho=rho, cy=cy, nx=nx, |
| | control_type=control_type, meas_location=meas_location) |
| |
|
| | |
| | fig = make_subplots(rows=2, cols=1, |
| | subplot_titles=("Configuration finale", "Déplacement pointe vs temps"), |
| | vertical_spacing=0.15) |
| | |
| | |
| | fig.add_trace(go.Scatter(x=ixe, y=u[::2, -1], name='Déplacement u', |
| | line=dict(color='blue')), |
| | row=1, col=1) |
| | fig.add_trace(go.Scatter(x=ixe, y=u[1::2, -1], name='Rotation θ', |
| | line=dict(color='red')), |
| | row=1, col=1) |
| | |
| | |
| | fig.add_trace(go.Scatter(x=time0, y=u[-1, :], name='Pointe', |
| | line=dict(color='blue')), |
| | row=2, col=1) |
| | fig.add_trace(go.Scatter(x=time0, y=fA, name='Référence', |
| | line=dict(color='red', dash='dash')), |
| | row=2, col=1) |
| | |
| | fig.update_layout(height=600, showlegend=True) |
| | st.plotly_chart(fig, use_container_width=True) |
| | |
| | if control_type in ['pid', 'pid_kalman']: |
| | |
| | fig_error = go.Figure() |
| | fig_error.add_trace(go.Scatter(x=time0, y=e_set, name='Erreur', |
| | line=dict(color='green'))) |
| | fig_error.update_layout(title="Erreur de suivi", xaxis_title="Temps (s)", yaxis_title="Erreur") |
| | st.plotly_chart(fig_error, use_container_width=True) |
