diff --git a/src/openqlab/analysis/servo_design.py b/src/openqlab/analysis/servo_design.py
index 1d84e7fd6e8e5affbc7c7923b4b3a8592ddfd9a6..b714335bded9df33890ff5a7c14e46fcfd524082 100644
--- a/src/openqlab/analysis/servo_design.py
+++ b/src/openqlab/analysis/servo_design.py
@@ -189,14 +189,11 @@ class Integrator(Filter):
Frequency were the ~1/f slope starts, defaults to 0.001 * `corner_frequency`.
"""
- def __init__(self, corner_frequency, second_parameter=None, enabled=True):
- super().__init__(corner_frequency, second_parameter, enabled)
-
def calculate(self):
z = -self.corner_frequency
- if self.sF is None:
- self._second_parameter = self.corner_frequency * 0.001
- p = -self.sF
+ if self.second_parameter is None:
+ self.second_parameter = self.corner_frequency * 0.001
+ p = -self.second_parameter
k = 1.0 # Gain = 1
return z, p, k
@@ -204,14 +201,6 @@ class Integrator(Filter):
def description(self):
return "Int {0}".format(human_readable(self.corner_frequency, "Hz"))
- @property
- def sF(self):
- return self.second_parameter
-
- @sF.setter
- def sF(self, value):
- self.second_parameter = value
-
class Differentiator(Filter):
"""
@@ -227,35 +216,24 @@ class Differentiator(Filter):
"""
- def __init__(self, corner_frequency, second_parameter=None, enabled=True):
- super().__init__(corner_frequency, second_parameter, enabled)
-
def calculate(self):
z = -self.corner_frequency
- if self.sF is None:
- self._second_parameter = self.corner_frequency * 10
- p = -self.sF
- k = self.sF / self.corner_frequency
+ if self.second_parameter is None:
+ self.second_parameter = self.corner_frequency * 10
+ p = -self.second_parameter
+ k = self.second_parameter / self.corner_frequency
return z, p, k
@property
def description(self):
return "Diff {0}".format(human_readable(self.corner_frequency, "Hz"))
- @property
- def sF(self):
- return self.second_parameter
-
- @sF.setter
- def sF(self, value):
- self.second_parameter = value
-
class Lowpass(Filter):
"""
- Create a 2nd-order lowpass filter with variable quality factor `Q`.
+ Create a 2nd-order lowpass filter with variable quality factor `second_parameter`.
- The default `Q` of ``1/sqrt(2)`` results in a Butterworth filter with flat passband.
+ The default `second_parameter` of ``1/sqrt(2)`` results in a Butterworth filter with flat passband.
Parameters
----------
@@ -264,18 +242,20 @@ class Lowpass(Filter):
"""
- def __init__(self, corner_frequency, Q=0.707, enabled=True):
- super().__init__(corner_frequency, Q, enabled)
+ def __init__(self, corner_frequency, second_parameter=0.707, enabled=True):
+ super().__init__(corner_frequency, second_parameter, enabled)
def calculate(self):
z = []
corner_frequency = self.corner_frequency
- Q = self.Q
+ second_parameter = self.second_parameter
p = [
- -corner_frequency / (2 * Q)
- + ((corner_frequency / (2 * Q)) ** 2 - corner_frequency ** 2) ** 0.5,
- -corner_frequency / (2 * Q)
- - ((corner_frequency / (2 * Q)) ** 2 - corner_frequency ** 2) ** 0.5,
+ -corner_frequency / (2 * second_parameter)
+ + ((corner_frequency / (2 * second_parameter)) ** 2 - corner_frequency ** 2)
+ ** 0.5,
+ -corner_frequency / (2 * second_parameter)
+ - ((corner_frequency / (2 * second_parameter)) ** 2 - corner_frequency ** 2)
+ ** 0.5,
]
k = corner_frequency ** 2
@@ -284,44 +264,38 @@ class Lowpass(Filter):
@property
def description(self):
return "LP2 {0}, Q={1:.4g}".format(
- human_readable(self.corner_frequency, "Hz"), self.Q
+ human_readable(self.corner_frequency, "Hz"), self.second_parameter
)
- @property
- def Q(self):
- return self.second_parameter
-
- @Q.setter
- def Q(self, value):
- self.second_parameter = value
-
class Notch(Filter):
"""
Create a notch filter at frequency `corner_frequency` with a quality
- factor `Q`, where the -3dB filter bandwidth ``bw`` is
- given by ``Q = corner_frequency/bw``.
+ factor `second_parameter`, where the -3dB filter bandwidth ``bw`` is
+ given by ``second_parameter = corner_frequency/bw``.
Parameters
----------
corner_frequency: :obj:`float`
Frequency to remove from the spectrum
- Q: :obj:`float`
+ second_parameter: :obj:`float`
Quality factor of the notch filter. Defaults to 1.
"""
- def __init__(self, corner_frequency, Q=1, enabled=True):
- super().__init__(corner_frequency, Q, enabled)
+ def __init__(self, corner_frequency, second_parameter=1, enabled=True):
+ super().__init__(corner_frequency, second_parameter, enabled)
def calculate(self):
corner_frequency = self.corner_frequency
- Q = self.Q
+ second_parameter = self.second_parameter
z = [corner_frequency * 1j, -corner_frequency * 1j]
p = [
- -corner_frequency / (2 * Q)
- + ((corner_frequency / (2 * Q)) ** 2 - corner_frequency ** 2) ** 0.5,
- -corner_frequency / (2 * Q)
- - ((corner_frequency / (2 * Q)) ** 2 - corner_frequency ** 2) ** 0.5,
+ -corner_frequency / (2 * second_parameter)
+ + ((corner_frequency / (2 * second_parameter)) ** 2 - corner_frequency ** 2)
+ ** 0.5,
+ -corner_frequency / (2 * second_parameter)
+ - ((corner_frequency / (2 * second_parameter)) ** 2 - corner_frequency ** 2)
+ ** 0.5,
]
k = 1
return z, p, k
@@ -329,17 +303,9 @@ class Notch(Filter):
@property
def description(self):
return "Notch {0}, Q={1:.4g}".format(
- human_readable(self.corner_frequency, "Hz"), self.Q
+ human_readable(self.corner_frequency, "Hz"), self.second_parameter
)
- @property
- def Q(self):
- return self.second_parameter
-
- @Q.setter
- def Q(self, value):
- self.second_parameter = value
-
class ServoDesign:
"""
@@ -534,30 +500,30 @@ class ServoDesign:
"""
self.add(Differentiator(corner_frequency, fstop, enabled))
- def lowpass(self, corner_frequency, Q=0.707, enabled=True):
+ def lowpass(self, corner_frequency, second_parameter=0.707, enabled=True):
"""
- Add a 2nd-order lowpass filter with variable quality factor `Q`.
+ Add a 2nd-order lowpass filter with variable quality factor `second_parameter`.
- The default `Q` of ``1/sqrt(2)`` results in a Butterworth filter with flat passband.
+ The default `second_parameter` of ``1/sqrt(2)`` results in a Butterworth filter with flat passband.
Parameters
----------
parameter: :obj:`type`
parameter description
"""
- self.add(Lowpass(corner_frequency, Q, enabled))
+ self.add(Lowpass(corner_frequency, second_parameter, enabled))
- def notch(self, corner_frequency, Q=1, enabled=True):
+ def notch(self, corner_frequency, second_parameter=1, enabled=True):
"""
Add a notch filter at frequency `corner_frequency` with a
- quality factor `Q`, where the -3dB filter bandwidth ``bw``
- is given by ``Q = corner_frequency/bw``.
+ quality factor `second_parameter`, where the -3dB filter bandwidth ``bw``
+ is given by ``second_parameter = corner_frequency/bw``.
Parameters
----------
corner_frequency: :obj:`float`
Frequency to remove from the spectrum
- Q: :obj:`float`
+ second_parameter: :obj:`float`
Quality factor of the notch filter
Returns
@@ -565,7 +531,7 @@ class ServoDesign:
:obj:`Servo`
the servo object with added notch filter
"""
- self.add(Notch(corner_frequency, Q, enabled))
+ self.add(Notch(corner_frequency, second_parameter, enabled))
####################################
# CLASS UTILITY
diff --git a/src/tests/test_analysis/test_servo_design/test_servo_design.py b/src/tests/test_analysis/test_servo_design/test_servo_design.py
index 9d1a7509ddde81050555e24bca3e009a6370411e..189d82a41ba1a8cd4761d14ede1bbbc6c38f9777 100644
--- a/src/tests/test_analysis/test_servo_design/test_servo_design.py
+++ b/src/tests/test_analysis/test_servo_design/test_servo_design.py
@@ -23,33 +23,33 @@ filedir = Path(__file__).parent
class TestFilter(unittest.TestCase):
def test_integrator(self):
corner_frequency = 840
- sF = 5300
- i = Integrator(corner_frequency, sF)
+ second_parameter = 5300
+ i = Integrator(corner_frequency, second_parameter)
np.testing.assert_allclose(i.zeros, -corner_frequency)
- np.testing.assert_allclose(i.poles, -sF)
+ np.testing.assert_allclose(i.poles, -second_parameter)
np.testing.assert_allclose(i.gain, 1)
- i.sF = corner_frequency * 0.001
+ i.second_parameter = corner_frequency * 0.001
np.testing.assert_allclose(i.zeros, -corner_frequency)
np.testing.assert_allclose(i.poles, -corner_frequency / 1000)
def test_differentiator(self):
corner_frequency = 840
- sF = 5300
- i = Differentiator(corner_frequency, sF)
+ second_parameter = 5300
+ i = Differentiator(corner_frequency, second_parameter)
np.testing.assert_allclose(i.zeros, -corner_frequency)
- np.testing.assert_allclose(i.poles, -sF)
+ np.testing.assert_allclose(i.poles, -second_parameter)
np.testing.assert_allclose(i.gain, 6.309524)
- i.sF = None
+ i.second_parameter = None
np.testing.assert_allclose(i.zeros, -corner_frequency)
np.testing.assert_allclose(i.poles, -corner_frequency * 10)
np.testing.assert_allclose(i.gain, 10)
def test_lowpass(self):
corner_frequency = 840
- Q = 3
- i1 = Lowpass(corner_frequency, Q)
+ second_parameter = 3
+ i1 = Lowpass(corner_frequency, second_parameter)
np.testing.assert_allclose(i1.zeros, -corner_frequency)
np.testing.assert_allclose(
i1.poles, [-140.0 + 828.25116963j, -140.0 - 828.25116963j]
@@ -65,16 +65,16 @@ class TestFilter(unittest.TestCase):
def test_notch(self):
corner_frequency = 840
- Q = 1
- i1 = Notch(corner_frequency, Q)
+ second_parameter = 1
+ i1 = Notch(corner_frequency, second_parameter)
np.testing.assert_allclose(i1.zeros, [0.0 + 840.0j, -0.0 - 840.0j])
np.testing.assert_allclose(
i1.poles, [-420.0 + 727.46133918j, -420.0 - 727.46133918j]
)
np.testing.assert_allclose(i1.gain, 1)
- Q = 32
- i2 = Notch(corner_frequency, Q)
+ second_parameter = 32
+ i2 = Notch(corner_frequency, second_parameter)
np.testing.assert_allclose(i2.zeros, [0.0 + 840.0j, -0.0 - 840.0j])
np.testing.assert_allclose(
i2.poles, [-13.125 + 839.89745468j, -13.125 - 839.89745468j]
@@ -217,7 +217,7 @@ class TestServoDesign(unittest.TestCase):
self.sd.integrator(500)
self.sd.differentiator(1000, 1000 * 1000)
- self.sd.notch(900, Q=200)
+ self.sd.notch(900, second_parameter=200)
zpk_expected = (
np.array([-500.0, -1000.0, 0.0 + 900.0j, -0.0 - 900.0j]),
np.array([-0.5, -1e6, -2.25e00 + 899.9971875j, -2.25e00 - 899.9971875j]),
@@ -279,7 +279,7 @@ class TestServoDesign(unittest.TestCase):
self.assertGreaterEqual(ax.get_xlim()[1], 5e3)
def test_get_dataframe(self):
- self.sd.notch(1e3, Q=3)
+ self.sd.notch(1e3, second_parameter=3)
df = self.sd.plot(plot=False)
self.assertIsInstance(df, DataFrame)
columns = ["Servo A", "Servo P"]
@@ -305,18 +305,18 @@ class TestServoDesign(unittest.TestCase):
self.sd.lowpass(438)
self.assertEqual(self.sd.filters[2].description, "LP2 438 Hz, Q=0.707")
self.sd.filters[2].corner_frequency = 1200
- self.sd.filters[2].Q = 12
+ self.sd.filters[2].second_parameter = 12
self.assertEqual(self.sd.filters[2].description, "LP2 1.2 kHz, Q=12")
- self.sd.notch(438, Q=11)
+ self.sd.notch(438, second_parameter=11)
self.assertEqual(self.sd.filters[3].description, "Notch 438 Hz, Q=11")
self.sd.filters[3].corner_frequency = 1200
- self.sd.filters[3].Q = 1.3
+ self.sd.filters[3].second_parameter = 1.3
self.assertEqual(self.sd.filters[3].description, "Notch 1.2 kHz, Q=1.3")
def test_discrete_form(self):
self.sd.integrator(500)
- self.sd.notch(900, Q=200)
+ self.sd.notch(900, second_parameter=200)
discrete_orig = {
"sampling_frequency": 100000.0,
"gain": 1.0,
@@ -370,8 +370,8 @@ class TestServoDesign(unittest.TestCase):
self.sd.integrator(500)
self.sd.differentiator(1000, 1000 * 1000)
- self.sd.notch(900, Q=200)
- self.sd.notch(1400, Q=200, enabled=False)
+ self.sd.notch(900, second_parameter=200)
+ self.sd.notch(1400, second_parameter=200, enabled=False)
self.sd.differentiator(3000, enabled=False)
zpk_expected = (
np.array([-500.0, -1000.0, 0.0 + 900.0j, -0.0 - 900.0j]),
@@ -384,7 +384,7 @@ class TestServoDesign(unittest.TestCase):
def test_discrete_form_with_disabled_filter(self):
self.sd.integrator(500)
- self.sd.notch(900, Q=200)
+ self.sd.notch(900, second_parameter=200)
self.sd.integrator(500, enabled=False)
self.sd.lowpass(5000, enabled=False)
discrete_orig = {
@@ -445,7 +445,7 @@ class TestServoDesign(unittest.TestCase):
np.testing.assert_allclose(f1["sos"], f2["sos"])
def test_jsonpickle(self):
- self.sd.notch(900, Q=200)
+ self.sd.notch(900, second_parameter=200)
self.sd.integrator(500)
self.sd.lowpass(5000)