probRock.py 文件源码

def calcAdimCtrl(self,alfa,beta):
        #u = numpy.empty((self.N,self.m))
        Nu = len(alfa)
        u = numpy.empty((Nu,2))

        restrictions = self.restrictions
        alpha_min = restrictions['alpha_min']
        alpha_max = restrictions['alpha_max']
        beta_min = restrictions['beta_min']
        beta_max = restrictions['beta_max']

        a1 = .5*(alpha_max + alpha_min)
        a2 = .5*(alpha_max - alpha_min)
        b1 = .5*(beta_max + beta_min)
        b2 = .5*(beta_max - beta_min)

        alfa -= a1
        alfa *= 1.0/a2

        beta -= b1
        beta *= 1.0/b2

        u[:,0] = alfa.copy()
        u[:,1] = beta.copy()

        # Basic saturation
        for j in range(2):
            for k in range(Nu):
                if u[k,j] > 0.99999:
                    u[k,j] = 0.99999
                if u[k,j] < -0.99999:
                    u[k,j] = -0.99999

        u = numpy.arctanh(u)
        return u