From 6e714efc96f50077094a25dd9803852cfdff1c9e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= Date: Mon, 26 Aug 2024 16:18:05 +0300 Subject: [PATCH 01/15] Added documentation of the PI and Complex PI controller --- docs/source/control/control_system.rst | 42 + docs/source/control/figs/2dof_Pi.svg | 1346 ++++++++++++ .../control/figs/Complex_vector_2dof_Pi.svg | 1861 +++++++++++++++++ 3 files changed, 3249 insertions(+) create mode 100644 docs/source/control/figs/2dof_Pi.svg create mode 100644 docs/source/control/figs/Complex_vector_2dof_Pi.svg diff --git a/docs/source/control/control_system.rst b/docs/source/control/control_system.rst index 2b0149ae0..f4d9dbb48 100644 --- a/docs/source/control/control_system.rst +++ b/docs/source/control/control_system.rst @@ -13,3 +13,45 @@ By default, discrete-time control systems in *motulator* run the following schem 5. Return the sampling period `T_s` and the duty ratios `d_abc` for the carrier comparison. A template of this main control loop is available in the base class for control systems in :class:`motulator.common.control.ControlSystem`. Using this template is not necessary, but it may simplify the implementation of new control systems. + +PI Controller +------------- + +The figure below shows a two-degree-of-freedom PI controller, where :math:`k_\mathrm{p}` and :math:`k_\mathrm{i}` are the proportional and integral gains, respectively. Furthermore :math:`u(s)` is the controller output, :math:`r(s)` is the reference signal, :math:`y(s)` is the feedback signal, and :math:`1/s` refers to integration. The controllers continous-time counterpart is: + +.. math:: + u(s) = k_{\mathrm{t}}\,r(s) - k_{\mathrm{p}}\,y(s) + \frac{k_{\mathrm{i}}}{s}\bigg(r(s) - y(s)\bigg) + :label: 2DOFPI + +.. figure:: figs/2DOF_PI.svg + :width: 100% + :align: center + :alt: Two-degree-of-freedom PI controller. + +The standard PI 1DOF controller is obtained by choosing :math:`k_\mathrm{t} = k_\mathrm{p}`. The integrator anti-windup is implemented based on the realized controller output. + +The PI controller is implemented in the class :class:`motulator.common.control.PIController`. + +Complex-vector PI controller +---------------------------- + +The figure below shows a 2DOF synchronous-frame complex-vector PI controller which continuous-time counterpart of the controller is [#Bri2000]_: + +.. math:: + \boldsymbol{u}(s) = \boldsymbol{k}_{\mathrm{t}}\,\boldsymbol{r}(s) + - \boldsymbol{k}_{\mathrm{p}}\, \boldsymbol{y}(s) + \frac{\boldsymbol{k}_{\mathrm{i}} + \mathrm{j}\omega \boldsymbol{k}_{\mathrm{t}}}{s}\bigg(\boldsymbol{r}(s) + - \boldsymbol{y}(s)\bigg) + \boldsymbol{u}_{\mathrm{ff}}(s) + :label: complexFFPI + +where :math:`\boldsymbol{u}(s)` is the controller output, :math:`\boldsymbol{r}(s)` is the reference signal, :math:`\boldsymbol{y}(s)` is the feedback signal, :math:`\boldsymbol{k}_{\mathrm{t}}` is the feedforward gain, :math:`\boldsymbol{k}_{\mathrm{p}}` and :math:`\boldsymbol{k}_{\mathrm{i}}` are the proportional and integral gains, respectively, and :math:`\boldsymbol{u}_{\mathrm{ff}}(s)` is the optional feedforward signal. + +.. figure:: figs/Complex_vector_2DOF_PI.svg + :width: 100% + :align: center + :alt: Two-degree-of-freedom complex-vector PI controller, with feedforward. + +The complex-vector PI controller with feedforward is implemented in the class :class:`motulator.common.control.ComplexPIController`. + +.. rubric:: References + +.. [#Bri2000] Briz, Degner, Lorenz, "Analysis and design of current regulators using complex vectors," IEEE Trans. Ind. Appl., 2000, https://doi.org/10.1109/28.845057 \ No newline at end of file diff --git a/docs/source/control/figs/2dof_Pi.svg b/docs/source/control/figs/2dof_Pi.svg new file mode 100644 index 000000000..848fbca60 --- /dev/null +++ b/docs/source/control/figs/2dof_Pi.svg @@ -0,0 +1,1346 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/source/control/figs/Complex_vector_2dof_Pi.svg b/docs/source/control/figs/Complex_vector_2dof_Pi.svg new file mode 100644 index 000000000..bb85b11f6 --- /dev/null +++ b/docs/source/control/figs/Complex_vector_2dof_Pi.svg @@ -0,0 +1,1861 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 69cbced0244139089ebb18a59d3a969e02ac9794 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= Date: Mon, 26 Aug 2024 16:24:16 +0300 Subject: [PATCH 02/15] added arrows at outputs --- docs/source/control/figs/2dof_Pi.svg | 21 ++++++++++++++++++- .../control/figs/Complex_vector_2dof_Pi.svg | 21 ++++++++++++++++++- 2 files changed, 40 insertions(+), 2 deletions(-) diff --git a/docs/source/control/figs/2dof_Pi.svg b/docs/source/control/figs/2dof_Pi.svg index 848fbca60..24d320fd9 100644 --- a/docs/source/control/figs/2dof_Pi.svg +++ b/docs/source/control/figs/2dof_Pi.svg @@ -55,6 +55,25 @@ + + + + + + Date: Tue, 27 Aug 2024 10:05:21 +0300 Subject: [PATCH 03/15] explanation that ACFilter class model both filter and grid impedance dynamics --- docs/source/model/grid/filter_and_grid.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/model/grid/filter_and_grid.rst b/docs/source/model/grid/filter_and_grid.rst index 7ff69d080..eccc86a05 100644 --- a/docs/source/model/grid/filter_and_grid.rst +++ b/docs/source/model/grid/filter_and_grid.rst @@ -1,7 +1,7 @@ AC Filter and Grid Impedance ============================ -This document describes continuous-time models of an AC filter and grid impedance. +This document describes continuous-time models of an AC filter and grid impedance. The dynamics of the AC filters and grid impedance are modeled in the class :class:`motulator.grid.model.ACFilter`. Based on the filter parameters the ACFilter class initializes either an L- or LCL filter. The parameters of the AC filter and grid impedance are defined in the data class :class:`motulator.grid.utils.ACFilterPars`. L Filter -------- From 517aa8ff981d391a508b82b03cf7c8e91c4ca662 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= Date: Tue, 27 Aug 2024 12:46:34 +0300 Subject: [PATCH 04/15] typo fixes in 2dof_pi and complexPi figures, add information about current control scheme in GFL example page --- docs/source/control/figs/2dof_Pi.svg | 10 +- docs/source/control/figs/ComplexFFPI.svg | 3975 +++++++++++++++++ .../control/figs/Complex_vector_2dof_Pi.svg | 42 +- examples/grid/grid_following/README.txt | 15 +- 4 files changed, 4015 insertions(+), 27 deletions(-) create mode 100644 docs/source/control/figs/ComplexFFPI.svg diff --git a/docs/source/control/figs/2dof_Pi.svg b/docs/source/control/figs/2dof_Pi.svg index 24d320fd9..bd1352ed4 100644 --- a/docs/source/control/figs/2dof_Pi.svg +++ b/docs/source/control/figs/2dof_Pi.svg @@ -27,9 +27,9 @@ showguides="true" inkscape:lockguides="false" showgrid="true" - inkscape:zoom="1.371659" - inkscape:cx="292.71124" - inkscape:cy="99.514529" + inkscape:zoom="1.2478589" + inkscape:cx="189.52463" + inkscape:cy="-11.619903" inkscape:window-width="1496" inkscape:window-height="820" inkscape:window-x="0" @@ -417,7 +417,7 @@ d="m 6.5713261,15.864419 17.0074809,3e-6" id="path3" /> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/source/control/figs/Complex_vector_2dof_Pi.svg b/docs/source/control/figs/Complex_vector_2dof_Pi.svg index 57f2fe86b..b09e206af 100644 --- a/docs/source/control/figs/Complex_vector_2dof_Pi.svg +++ b/docs/source/control/figs/Complex_vector_2dof_Pi.svg @@ -8,7 +8,7 @@ version="1.1" id="svg1" inkscape:version="1.3.2 (091e20e, 2023-11-25)" - 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The structure of the controller is shown in the figure below: + +.. figure:: /control/figs/ComplexFFPI.svg + :width: 50% + :align: center + :alt: Two-degree-of-freedom complex-vector PI controller, with feedforward. + + The complex-vector gain selection is based on the paper by Briz et al. [#Bri2000]_. More details about the gain selection can be found in the :doc:`/control/drive/current_ctrl` section. + +.. rubric:: References + +.. [#Bri2000] Briz, Degner, Lorenz, "Analysis and design of current regulators using complex vectors," IEEE Trans. Ind. Appl., 2000,https://doi.org/10.1109/28.845057 \ No newline at end of file From f1d00d55cca4dcb2f3c00f0e0abc4dc8502ae076 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Juho=20M=C3=A4=C3=A4tt=C3=A4?= Date: Tue, 27 Aug 2024 16:18:33 +0300 Subject: [PATCH 05/15] added control system block diagram --- docs/source/control/control_system.rst | 15 +- docs/source/control/figs/control_system.svg | 6110 +++++++++++++++++++ 2 files changed, 6122 insertions(+), 3 deletions(-) create mode 100644 docs/source/control/figs/control_system.svg diff --git a/docs/source/control/control_system.rst b/docs/source/control/control_system.rst index f4d9dbb48..92306f6ce 100644 --- a/docs/source/control/control_system.rst +++ b/docs/source/control/control_system.rst @@ -1,10 +1,19 @@ Common ====== -Main Control Loop ------------------ +Control System +-------------- -By default, discrete-time control systems in *motulator* run the following scheme in their main control loops: +The figure below shows the structure and data flow of the default control systems used in *motulator*. + +.. figure:: figs/control_system.svg + :width: 100% + :align: center + :alt: Block diagram of the control system. + + Block diagram of the control system. The continuous-time plant model is also shown in red. + +In the figure, :math:`\texttt{monospace}` font is used to denote actual symbol names used in the program. The shaded background represents what is executed during the simulation, while the post-processing is done only after simulation. By default, discrete-time control systems run the following scheme in their main control loops: 1. Get the feedback signals for the controllers. This step may contain first getting the measurements and then optionally computing the observer outputs. These measured and estimated signals are collected to the SimpleNamespace object named `fbk`. 2. Get the reference signals and compute the controller outputs based on the feedback signals `fbk`. 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 02a959e650ae787a3aa73562d3daaa052ec99691 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= Date: Wed, 28 Aug 2024 10:27:57 +0300 Subject: [PATCH 06/15] typo fix --- examples/grid/grid_following/README.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/grid/grid_following/README.txt b/examples/grid/grid_following/README.txt index 1b5a8eae2..1fb6d66d8 100644 --- a/examples/grid/grid_following/README.txt +++ b/examples/grid/grid_following/README.txt @@ -6,11 +6,11 @@ These examples demonstrate grid-following control. The current controller in the grid following converters uses 2DOF synchronous-frame complex-vector PI controller, with an additional feedforward term. The structure of the controller is shown in the figure below: .. figure:: /control/figs/ComplexFFPI.svg - :width: 50% + :width: 60% :align: center :alt: Two-degree-of-freedom complex-vector PI controller, with feedforward. - The complex-vector gain selection is based on the paper by Briz et al. [#Bri2000]_. More details about the gain selection can be found in the :doc:`/control/drive/current_ctrl` section. + The complex-vector gain selection is based on[#Bri2000]_. More details about the gain selection can be found in the :doc:`/control/drive/current_ctrl` section. .. rubric:: References From 0b05e6417eb45d8405da234b158afbd84be3d77a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= Date: Wed, 28 Aug 2024 10:32:02 +0300 Subject: [PATCH 07/15] typo --- examples/grid/grid_following/README.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/grid/grid_following/README.txt b/examples/grid/grid_following/README.txt index 1fb6d66d8..55b2eb63e 100644 --- a/examples/grid/grid_following/README.txt +++ b/examples/grid/grid_following/README.txt @@ -10,7 +10,7 @@ The current controller in the grid following converters uses 2DOF synchronous-fr :align: center :alt: Two-degree-of-freedom complex-vector PI controller, with feedforward. - The complex-vector gain selection is based on[#Bri2000]_. More details about the gain selection can be found in the :doc:`/control/drive/current_ctrl` section. + The complex-vector gain selection is based on [#Bri2000]_. More details about the gain selection can be found in the :doc:`/control/drive/current_ctrl` section. .. rubric:: References From ce198f5123c7ddde84a87fa76fe75f777b1daeba Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Juho=20M=C3=A4=C3=A4tt=C3=A4?= Date: Wed, 28 Aug 2024 10:50:59 +0300 Subject: [PATCH 08/15] updated links to example scripts in readme, removed comments --- README.md | 3 ++- motulator/common/model/_simulation.py | 3 --- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index ee975c638..ea23d587d 100644 --- a/README.md +++ b/README.md @@ -28,7 +28,8 @@ Usage ----- The system models, controllers, reference sequences etc. are easy to configure. As a starting point, example scripts and Jupyter notebooks can be downloaded here: -https://aalto-electric-drives.github.io/motulator/auto_examples/index.html +https://aalto-electric-drives.github.io/motulator/drive_examples/index.html +https://aalto-electric-drives.github.io/motulator/grid_examples/index.html New system models and controllers can be developed using the existing ones as templates. diff --git a/motulator/common/model/_simulation.py b/motulator/common/model/_simulation.py index 202b5a485..df400e20d 100644 --- a/motulator/common/model/_simulation.py +++ b/motulator/common/model/_simulation.py @@ -361,9 +361,6 @@ def rhs(self, t, state_list): if subsystem_rhs is not None: rhs_list += subsystem_rhs - ################## Set the outputs for the interconnections and for the rhs - #self.post_set_outputs(t) - # List of state derivatives return rhs_list From adc6edc526860b229e8f0c76f81b23b5fc4af7e6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Juho=20M=C3=A4=C3=A4tt=C3=A4?= Date: Thu, 29 Aug 2024 15:58:08 +0300 Subject: [PATCH 09/15] added customized autoAPI template to fix links to GridConverterControlSystem base class in api reference --- docs/_templates/autoapi/index.rst | 13 ++ docs/_templates/autoapi/python/attribute.rst | 1 + docs/_templates/autoapi/python/class.rst | 104 ++++++++++++ docs/_templates/autoapi/python/data.rst | 38 +++++ docs/_templates/autoapi/python/exception.rst | 1 + docs/_templates/autoapi/python/function.rst | 21 +++ docs/_templates/autoapi/python/method.rst | 21 +++ docs/_templates/autoapi/python/module.rst | 170 +++++++++++++++++++ docs/_templates/autoapi/python/package.rst | 1 + docs/_templates/autoapi/python/property.rst | 20 +++ docs/source/conf.py | 3 + 11 files changed, 393 insertions(+) create mode 100644 docs/_templates/autoapi/index.rst create mode 100644 docs/_templates/autoapi/python/attribute.rst create mode 100644 docs/_templates/autoapi/python/class.rst create mode 100644 docs/_templates/autoapi/python/data.rst create mode 100644 docs/_templates/autoapi/python/exception.rst create mode 100644 docs/_templates/autoapi/python/function.rst create mode 100644 docs/_templates/autoapi/python/method.rst create mode 100644 docs/_templates/autoapi/python/module.rst create mode 100644 docs/_templates/autoapi/python/package.rst create mode 100644 docs/_templates/autoapi/python/property.rst diff --git a/docs/_templates/autoapi/index.rst b/docs/_templates/autoapi/index.rst new file mode 100644 index 000000000..2a45554a2 --- /dev/null +++ b/docs/_templates/autoapi/index.rst @@ -0,0 +1,13 @@ +API Reference +============= + +This page contains auto-generated API reference documentation [#f1]_. + +.. toctree:: + :titlesonly: + + {% for page in pages|selectattr("is_top_level_object") %} + {{ page.include_path }} + {% endfor %} + +.. [#f1] Created with `sphinx-autoapi `_ diff --git a/docs/_templates/autoapi/python/attribute.rst b/docs/_templates/autoapi/python/attribute.rst new file mode 100644 index 000000000..ebaba555a --- /dev/null +++ b/docs/_templates/autoapi/python/attribute.rst @@ -0,0 +1 @@ +{% extends "python/data.rst" %} diff --git a/docs/_templates/autoapi/python/class.rst b/docs/_templates/autoapi/python/class.rst new file mode 100644 index 000000000..a2aa1a03b --- /dev/null +++ b/docs/_templates/autoapi/python/class.rst @@ -0,0 +1,104 @@ +{% if obj.display %} + {% if is_own_page %} +{{ obj.id }} +{{ "=" * obj.id | length }} + + {% endif %} + {% set visible_children = obj.children|selectattr("display")|list %} + {% set own_page_children = visible_children|selectattr("type", "in", own_page_types)|list %} + {% if is_own_page and own_page_children %} +.. toctree:: + :hidden: + + {% for child in own_page_children %} + {{ child.include_path }} + {% endfor %} + + {% endif %} +.. py:{{ obj.type }}:: {% if is_own_page %}{{ obj.id }}{% else %}{{ obj.short_name }}{% endif %}{% if obj.args %}({{ obj.args }}){% endif %} + + {% for (args, return_annotation) in obj.overloads %} + {{ " " * (obj.type | length) }} {{ obj.short_name }}{% if args %}({{ args }}){% endif %} + + {% endfor %} + {% if obj.bases %} + {% if "show-inheritance" in autoapi_options %} + + Bases: {% for base in obj.bases %}{% if base == "motulator.grid.control._common.GridConverterControlSystem" %}:class:`GridConverterControlSystem`{% else %}{{ base|link_objs }}{% endif %}{% if not loop.last %}, {% endif %}{% endfor %} + {% endif %} + + + {% if "show-inheritance-diagram" in autoapi_options and obj.bases != ["object"] %} + .. autoapi-inheritance-diagram:: {{ obj.obj["full_name"] }} + :parts: 1 + {% if "private-members" in autoapi_options %} + :private-bases: + {% endif %} + + {% endif %} + {% endif %} + {% if obj.docstring %} + + {{ obj.docstring|indent(3) }} + {% endif %} + {% for obj_item in visible_children %} + {% if obj_item.type not in own_page_types %} + + {{ obj_item.render()|indent(3) }} + {% endif %} + {% endfor %} + {% if is_own_page and own_page_children %} + {% set visible_attributes = own_page_children|selectattr("type", "equalto", "attribute")|list %} + {% if visible_attributes %} +Attributes +---------- + +.. autoapisummary:: + + {% for attribute in visible_attributes %} + {{ attribute.id }} + {% endfor %} + + + {% endif %} + {% set visible_exceptions = own_page_children|selectattr("type", "equalto", "exception")|list %} + {% if visible_exceptions %} +Exceptions +---------- + +.. autoapisummary:: + + {% for exception in visible_exceptions %} + {{ exception.id }} + {% endfor %} + + + {% endif %} + {% set visible_classes = own_page_children|selectattr("type", "equalto", "class")|list %} + {% if visible_classes %} +Classes +------- + +.. autoapisummary:: + + {% for klass in visible_classes %} + {{ klass.id }} + {% endfor %} + + + {% endif %} + {% set visible_methods = own_page_children|selectattr("type", "equalto", "method")|list %} + {% if visible_methods %} +Methods +------- + +.. autoapisummary:: + + {% for method in visible_methods %} + {{ method.id }} + {% endfor %} + + + {% endif %} + {% endif %} +{% endif %} diff --git a/docs/_templates/autoapi/python/data.rst b/docs/_templates/autoapi/python/data.rst new file mode 100644 index 000000000..1a502509d --- /dev/null +++ b/docs/_templates/autoapi/python/data.rst @@ -0,0 +1,38 @@ +{% if obj.display %} + {% if is_own_page %} +{{ obj.id }} +{{ "=" * obj.id | length }} + + {% endif %} +.. py:{{ obj.type }}:: {% if is_own_page %}{{ obj.id }}{% else %}{{ obj.name }}{% endif %} + {% if obj.annotation is not none %} + + :type: {% if obj.annotation %} {{ obj.annotation }}{% endif %} + {% endif %} + {% if obj.value is not none %} + + {% if obj.value.splitlines()|count > 1 %} + :value: Multiline-String + + .. raw:: html + +
Show Value + + .. code-block:: python + + {{ obj.value|indent(width=6,blank=true) }} + + .. raw:: html + +
+ + {% else %} + :value: {{ obj.value|truncate(100) }} + {% endif %} + {% endif %} + + {% if obj.docstring %} + + {{ obj.docstring|indent(3) }} + {% endif %} +{% endif %} diff --git a/docs/_templates/autoapi/python/exception.rst b/docs/_templates/autoapi/python/exception.rst new file mode 100644 index 000000000..92f3d38fd --- /dev/null +++ b/docs/_templates/autoapi/python/exception.rst @@ -0,0 +1 @@ +{% extends "python/class.rst" %} diff --git a/docs/_templates/autoapi/python/function.rst b/docs/_templates/autoapi/python/function.rst new file mode 100644 index 000000000..5dee5aa05 --- /dev/null +++ b/docs/_templates/autoapi/python/function.rst @@ -0,0 +1,21 @@ +{% if obj.display %} + {% if is_own_page %} +{{ obj.id }} +{{ "=" * obj.id | length }} + + {% endif %} +.. py:function:: {% if is_own_page %}{{ obj.id }}{% else %}{{ obj.short_name }}{% endif %}({{ obj.args }}){% if obj.return_annotation is not none %} -> {{ obj.return_annotation }}{% endif %} + {% for (args, return_annotation) in obj.overloads %} + + {%+ if is_own_page %}{{ obj.id }}{% else %}{{ obj.short_name }}{% endif %}({{ args }}){% if return_annotation is not none %} -> {{ return_annotation }}{% endif %} + {% endfor %} + {% for property in obj.properties %} + + :{{ property }}: + {% endfor %} + + {% if obj.docstring %} + + {{ obj.docstring|indent(3) }} + {% endif %} +{% endif %} diff --git a/docs/_templates/autoapi/python/method.rst b/docs/_templates/autoapi/python/method.rst new file mode 100644 index 000000000..12d42de66 --- /dev/null +++ b/docs/_templates/autoapi/python/method.rst @@ -0,0 +1,21 @@ +{% if obj.display %} + {% if is_own_page %} +{{ obj.id }} +{{ "=" * obj.id | length }} + + {% endif %} +.. py:method:: {% if is_own_page %}{{ obj.id }}{% else %}{{ obj.short_name }}{% endif %}({{ obj.args }}){% if obj.return_annotation is not none %} -> {{ obj.return_annotation }}{% endif %} + {% for (args, return_annotation) in obj.overloads %} + + {%+ if is_own_page %}{{ obj.id }}{% else %}{{ obj.short_name }}{% endif %}({{ args }}){% if return_annotation is not none %} -> {{ return_annotation }}{% endif %} + {% endfor %} + {% for property in obj.properties %} + + :{{ property }}: + {% endfor %} + + {% if obj.docstring %} + + {{ obj.docstring|indent(3) }} + {% endif %} +{% endif %} diff --git a/docs/_templates/autoapi/python/module.rst b/docs/_templates/autoapi/python/module.rst new file mode 100644 index 000000000..8e12c3fc8 --- /dev/null +++ b/docs/_templates/autoapi/python/module.rst @@ -0,0 +1,170 @@ +{% if obj.display %} + {% if is_own_page %} +{{ obj.id }} +{{ "=" * obj.id|length }} + +.. py:module:: {{ obj.name }} + + {% if obj.docstring %} +.. autoapi-nested-parse:: + + {{ obj.docstring|indent(3) }} + + {% endif %} + + {% block subpackages %} + {% set visible_subpackages = obj.subpackages|selectattr("display")|list %} + {% if visible_subpackages %} +Subpackages +----------- + +.. toctree:: + :maxdepth: 1 + + {% for subpackage in visible_subpackages %} + {{ subpackage.include_path }} + {% endfor %} + + + {% endif %} + {% endblock %} + {% block submodules %} + {% set visible_submodules = obj.submodules|selectattr("display")|list %} + {% if visible_submodules %} +Submodules +---------- + +.. toctree:: + :maxdepth: 1 + + {% for submodule in visible_submodules %} + {{ submodule.include_path }} + {% endfor %} + + + {% endif %} + {% endblock %} + {% block content %} + {% set visible_children = obj.children|selectattr("display")|list %} + {% if visible_children %} + {% set visible_attributes = visible_children|selectattr("type", "equalto", "data")|list %} + {% if visible_attributes %} + {% if "attribute" in own_page_types or "show-module-summary" in autoapi_options %} +Attributes +---------- + + {% if "attribute" in own_page_types %} +.. toctree:: + :hidden: + + {% for attribute in visible_attributes %} + {{ attribute.include_path }} + {% endfor %} + + {% endif %} +.. autoapisummary:: + + {% for attribute in visible_attributes %} + {{ attribute.id }} + {% endfor %} + {% endif %} + + + {% endif %} + {% set visible_exceptions = visible_children|selectattr("type", "equalto", "exception")|list %} + {% if visible_exceptions %} + {% if "exception" in own_page_types or "show-module-summary" in autoapi_options %} +Exceptions +---------- + + {% if "exception" in own_page_types %} +.. toctree:: + :hidden: + + {% for exception in visible_exceptions %} + {{ exception.include_path }} + {% endfor %} + + {% endif %} +.. autoapisummary:: + + {% for exception in visible_exceptions %} + {{ exception.id }} + {% endfor %} + {% endif %} + + + {% endif %} + {% set visible_classes = visible_children|selectattr("type", "equalto", "class")|list %} + {% if visible_classes %} + {% if "class" in own_page_types or "show-module-summary" in autoapi_options %} +Classes +------- + + {% if "class" in own_page_types %} +.. toctree:: + :hidden: + + {% for klass in visible_classes %} + {{ klass.include_path }} + {% endfor %} + + {% endif %} +.. autoapisummary:: + + {% for klass in visible_classes %} + {{ klass.id }} + {% endfor %} + {% endif %} + + + {% endif %} + {% set visible_functions = visible_children|selectattr("type", "equalto", "function")|list %} + {% if visible_functions %} + {% if "function" in own_page_types or "show-module-summary" in autoapi_options %} +Functions +--------- + + {% if "function" in own_page_types %} +.. toctree:: + :hidden: + + {% for function in visible_functions %} + {{ function.include_path }} + {% endfor %} + + {% endif %} +.. autoapisummary:: + + {% for function in visible_functions %} + {{ function.id }} + {% endfor %} + {% endif %} + + + {% endif %} + {% set this_page_children = visible_children|rejectattr("type", "in", own_page_types)|list %} + {% if this_page_children %} +{{ obj.type|title }} Contents +{{ "-" * obj.type|length }}--------- + + {% for obj_item in this_page_children %} +{{ obj_item.render()|indent(0) }} + {% endfor %} + {% endif %} + {% endif %} + {% endblock %} + {% else %} +.. py:module:: {{ obj.name }} + + {% if obj.docstring %} + .. autoapi-nested-parse:: + + {{ obj.docstring|indent(6) }} + + {% endif %} + {% for obj_item in visible_children %} + {{ obj_item.render()|indent(3) }} + {% endfor %} + {% endif %} +{% endif %} diff --git a/docs/_templates/autoapi/python/package.rst b/docs/_templates/autoapi/python/package.rst new file mode 100644 index 000000000..fb9a64965 --- /dev/null +++ b/docs/_templates/autoapi/python/package.rst @@ -0,0 +1 @@ +{% extends "python/module.rst" %} diff --git a/docs/_templates/autoapi/python/property.rst b/docs/_templates/autoapi/python/property.rst new file mode 100644 index 000000000..3e280dcb1 --- /dev/null +++ b/docs/_templates/autoapi/python/property.rst @@ -0,0 +1,20 @@ +{% if obj.display %} + {% if is_own_page %} +{{ obj.id }} +{{ "=" * obj.id | length }} + + {% endif %} +.. py:property:: {% if is_own_page %}{{ obj.id}}{% else %}{{ obj.short_name }}{% endif %} + {% if obj.annotation %} + + :type: {{ obj.annotation }} + {% endif %} + {% for property in obj.properties %} + + :{{ property }}: + {% endfor %} + + {% if obj.docstring %} + {{ obj.docstring|indent(3) }} + {% endif %} +{% endif %} diff --git a/docs/source/conf.py b/docs/source/conf.py index a9fb8e2ab..23d95b911 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -53,6 +53,9 @@ "imported-members", ] # "private-members", "imported-members", "undoc-members", "special-members", +# Point AutoAPI to a custom template directory +autoapi_template_dir = "../_templates/autoapi" + autoapi_python_class_content = "class" # "both" autoapi_keep_files = True autoapi_add_toctree_entry = False From bffbab8054d18938d3e0927844c721a25669a4ee Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= Date: Thu, 29 Aug 2024 15:10:29 +0300 Subject: [PATCH 10/15] update the line widths of the control figures to the same as the other --- docs/source/control/figs/2dof_Pi.svg | 316 ++++--- docs/source/control/figs/ComplexFFPI.svg | 894 +++++++++++------- .../control/figs/Complex_vector_2dof_Pi.svg | 453 +++++---- docs/source/control/figs/pll.svg | 6 +- 4 files changed, 1016 insertions(+), 653 deletions(-) diff --git a/docs/source/control/figs/2dof_Pi.svg b/docs/source/control/figs/2dof_Pi.svg index bd1352ed4..3ac0e7f6b 100644 --- a/docs/source/control/figs/2dof_Pi.svg +++ b/docs/source/control/figs/2dof_Pi.svg @@ -27,9 +27,9 @@ showguides="true" inkscape:lockguides="false" showgrid="true" - inkscape:zoom="1.2478589" - inkscape:cx="189.52463" - inkscape:cy="-11.619903" + inkscape:zoom="2.378886" + inkscape:cx="227.20719" + inkscape:cy="72.512932" inkscape:window-width="1496" inkscape:window-height="820" inkscape:window-x="0" @@ -399,21 +399,21 @@ inkscape:groupmode="layer" id="layer1"> + style="stroke-width:0.61732481;stroke-dasharray:none"> + style="stroke-width:0.61732481;stroke-dasharray:none"> + style="stroke-width:0.61732481;stroke-dasharray:none"> + style="stroke-width:0.61732481;stroke-dasharray:none" /> @@ -470,7 +470,7 @@ ns3:stroke-to-path="0" id="g3051-6" ns3:jacobian_sqrt="0.352778" - style="stroke-width:0.607402;stroke-dasharray:none"> + style="stroke-width:0.67242067;stroke-dasharray:none"> + style="stroke-width:0.67242067;stroke-dasharray:none"> + style="stroke-width:0.67242067;stroke-dasharray:none"> + style="stroke-width:0.67242067;stroke-dasharray:none" /> @@ -512,7 +512,7 @@ ns3:stroke-to-path="0" id="g5998" ns3:jacobian_sqrt="0.352778" - style="stroke-width:0.754994;stroke-dasharray:none"> + style="stroke-width:0.83581103;stroke-dasharray:none"> + style="stroke-width:0.83581103;stroke-dasharray:none"> + style="stroke-width:0.83581103;stroke-dasharray:none"> + style="stroke-width:0.83581103;stroke-dasharray:none" /> @@ -554,7 +554,7 @@ ns3:stroke-to-path="0" id="g5998-5-4" ns3:jacobian_sqrt="0.352778" - style="stroke-width:0.754994;stroke-dasharray:none"> + style="stroke-width:0.83581103;stroke-dasharray:none"> + style="stroke-width:0.83581103;stroke-dasharray:none"> + 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b/docs/source/control/figs/pll.svg @@ -632,7 +632,7 @@ y="984.79279" width="40" id="rect911" - style="display:inline;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1" /> + style="display:inline;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.333;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1" /> + style="display:inline;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.333;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1" /> Date: Thu, 29 Aug 2024 16:31:38 +0300 Subject: [PATCH 11/15] minor updates in figures. Control system figure completely new version by Marko --- docs/source/control/control_system.rst | 6 +- docs/source/control/figs/control_system.svg | 6940 +++-------------- docs/source/model/figs/carrier_comparison.svg | 128 +- docs/source/model/figs/im_block.svg | 160 +- docs/source/model/figs/pwm_inverter.svg | 182 +- docs/source/model/figs/sm_block_rot.svg | 162 +- docs/source/model/figs/sm_block_stat.svg | 267 +- docs/source/model/figs/system.svg | 1757 +---- examples/grid/grid_following/README.txt | 2 +- 9 files changed, 1659 insertions(+), 7945 deletions(-) diff --git a/docs/source/control/control_system.rst b/docs/source/control/control_system.rst index 92306f6ce..bfb968a26 100644 --- a/docs/source/control/control_system.rst +++ b/docs/source/control/control_system.rst @@ -11,7 +11,7 @@ The figure below shows the structure and data flow of the default control system :align: center :alt: Block diagram of the control system. - Block diagram of the control system. The continuous-time plant model is also shown in red. + Block diagram of the control system. The continuous-time plant model is also shown in red. Please notice that the observer might not be present in all control systems. In the figure, :math:`\texttt{monospace}` font is used to denote actual symbol names used in the program. The shaded background represents what is executed during the simulation, while the post-processing is done only after simulation. By default, discrete-time control systems run the following scheme in their main control loops: @@ -32,7 +32,7 @@ The figure below shows a two-degree-of-freedom PI controller, where :math:`k_\ma u(s) = k_{\mathrm{t}}\,r(s) - k_{\mathrm{p}}\,y(s) + \frac{k_{\mathrm{i}}}{s}\bigg(r(s) - y(s)\bigg) :label: 2DOFPI -.. figure:: figs/2DOF_PI.svg +.. figure:: figs/2dof_pi.svg :width: 100% :align: center :alt: Two-degree-of-freedom PI controller. @@ -54,7 +54,7 @@ The figure below shows a 2DOF synchronous-frame complex-vector PI controller whi where :math:`\boldsymbol{u}(s)` is the controller output, :math:`\boldsymbol{r}(s)` is the reference signal, :math:`\boldsymbol{y}(s)` is the feedback signal, :math:`\boldsymbol{k}_{\mathrm{t}}` is the feedforward gain, :math:`\boldsymbol{k}_{\mathrm{p}}` and :math:`\boldsymbol{k}_{\mathrm{i}}` are the proportional and integral gains, respectively, and :math:`\boldsymbol{u}_{\mathrm{ff}}(s)` is the optional feedforward signal. -.. figure:: figs/Complex_vector_2DOF_PI.svg +.. figure:: figs/complex_vector_2dof_pi.svg :width: 100% :align: center :alt: Two-degree-of-freedom complex-vector PI controller, with feedforward. diff --git a/docs/source/control/figs/control_system.svg b/docs/source/control/figs/control_system.svg index 29b3bb58e..2dc2fae2f 100644 --- a/docs/source/control/figs/control_system.svg +++ b/docs/source/control/figs/control_system.svg @@ -1,20 +1,19 @@ + xmlns:dc="http://purl.org/dc/elements/1.1/"> - 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transform="matrix(1.33333,0,0,1.33333,-0.4375,0.0164998)"> + transform="matrix(1.33333,0,0,1.33333,473.50811,423.45402)" + style="stroke-width:1.23457"> + transform="translate(107.937,7.4720001)" + style="stroke-width:1.23457"> + id="path222" + style="stroke-width:1.23457" /> + transform="matrix(1.33333,0,0,1.33333,473.50811,423.45402)" + style="stroke-width:1.23457"> + id="g126" + style="stroke-width:1.23457"> + transform="translate(111.535,7.4720001)" + style="stroke-width:1.23457"> + id="path226" + style="stroke-width:1.23457" /> + Computationaldelay + + Carriercomparison + Continuous-timesystem + Discrete-timecontrolsystem + Samples + Measurements + External disturbances + States + References diff --git a/examples/grid/grid_following/README.txt b/examples/grid/grid_following/README.txt index 55b2eb63e..0151237d5 100644 --- a/examples/grid/grid_following/README.txt +++ b/examples/grid/grid_following/README.txt @@ -5,7 +5,7 @@ These examples demonstrate grid-following control. The current controller in the grid following converters uses 2DOF synchronous-frame complex-vector PI controller, with an additional feedforward term. The structure of the controller is shown in the figure below: -.. figure:: /control/figs/ComplexFFPI.svg +.. figure:: /control/figs/complexffpi.svg :width: 60% :align: center :alt: Two-degree-of-freedom complex-vector PI controller, with feedforward. From d412161a59aaae838e400925897312e6a3cdb28c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= Date: Thu, 29 Aug 2024 16:48:00 +0300 Subject: [PATCH 12/15] control/figs file names to lowercase (actually metadata doesn't change if just rename the file, at least in mac environment) --- docs/source/control/figs/2dof_Pi.svg | 4 ++-- docs/source/control/figs/ComplexFFPI.svg | 4 ++-- docs/source/control/figs/Complex_vector_2dof_Pi.svg | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/docs/source/control/figs/2dof_Pi.svg b/docs/source/control/figs/2dof_Pi.svg index 3ac0e7f6b..fabbbfbbc 100644 --- a/docs/source/control/figs/2dof_Pi.svg +++ b/docs/source/control/figs/2dof_Pi.svg @@ -8,7 +8,7 @@ version="1.1" id="svg1" inkscape:version="1.3.2 (091e20e, 2023-11-25)" - sodipodi:docname="2dof_Pi.svg" + sodipodi:docname="2dof_pi.svg" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns="http://www.w3.org/2000/svg" @@ -29,7 +29,7 @@ showgrid="true" inkscape:zoom="2.378886" inkscape:cx="227.20719" - inkscape:cy="72.512932" + inkscape:cy="72.512933" inkscape:window-width="1496" inkscape:window-height="820" inkscape:window-x="0" diff --git a/docs/source/control/figs/ComplexFFPI.svg b/docs/source/control/figs/ComplexFFPI.svg index bc41abd36..93fe79ab7 100644 --- a/docs/source/control/figs/ComplexFFPI.svg +++ b/docs/source/control/figs/ComplexFFPI.svg @@ -8,7 +8,7 @@ version="1.1" id="svg1" inkscape:version="1.3.2 (091e20e, 2023-11-25)" - sodipodi:docname="ComplexFFPI.svg" + sodipodi:docname="complexffpi.svg" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns="http://www.w3.org/2000/svg" @@ -27,7 +27,7 @@ showgrid="true" inkscape:zoom="0.96088539" inkscape:cx="137.89366" - inkscape:cy="90.541496" + inkscape:cy="90.541495" inkscape:window-width="1512" inkscape:window-height="769" inkscape:window-x="0" diff --git a/docs/source/control/figs/Complex_vector_2dof_Pi.svg b/docs/source/control/figs/Complex_vector_2dof_Pi.svg index dedefa959..abefa38a7 100644 --- a/docs/source/control/figs/Complex_vector_2dof_Pi.svg +++ b/docs/source/control/figs/Complex_vector_2dof_Pi.svg @@ -8,7 +8,7 @@ version="1.1" id="svg1" inkscape:version="1.3.2 (091e20e, 2023-11-25)" - sodipodi:docname="Complex_vector_2dof_Pi.svg" + sodipodi:docname="complex_vector_2dof_pi.svg" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns="http://www.w3.org/2000/svg" @@ -29,7 +29,7 @@ showgrid="true" inkscape:zoom="2.3296949" inkscape:cx="248.31578" - inkscape:cy="68.893142" + inkscape:cy="68.893141" inkscape:window-width="1496" inkscape:window-height="820" inkscape:window-x="0" From b04874575e4f25df58882a1e4a8e8582a30621ef Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= <166725462+MiSaren@users.noreply.github.com> Date: Thu, 29 Aug 2024 17:01:45 +0300 Subject: [PATCH 13/15] Rename 2dof_Pi.svg to 2dof_pi.svg --- docs/source/control/figs/{2dof_Pi.svg => 2dof_pi.svg} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename docs/source/control/figs/{2dof_Pi.svg => 2dof_pi.svg} (100%) diff --git a/docs/source/control/figs/2dof_Pi.svg b/docs/source/control/figs/2dof_pi.svg similarity index 100% rename from docs/source/control/figs/2dof_Pi.svg rename to docs/source/control/figs/2dof_pi.svg From 434bd7d7ab42ed1b8c6bd1a8bb13fbd41aa62451 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= <166725462+MiSaren@users.noreply.github.com> Date: Thu, 29 Aug 2024 17:02:36 +0300 Subject: [PATCH 14/15] Rename ComplexFFPI.svg to complexffpi.svg --- docs/source/control/figs/{ComplexFFPI.svg => complexffpi.svg} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename docs/source/control/figs/{ComplexFFPI.svg => complexffpi.svg} (100%) diff --git a/docs/source/control/figs/ComplexFFPI.svg b/docs/source/control/figs/complexffpi.svg similarity index 100% rename from docs/source/control/figs/ComplexFFPI.svg rename to docs/source/control/figs/complexffpi.svg From 6311ed20213d158baa8046f27da6bd6029dfa084 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mikko=20Sar=C3=A9n?= <166725462+MiSaren@users.noreply.github.com> Date: Thu, 29 Aug 2024 17:03:08 +0300 Subject: [PATCH 15/15] Rename Complex_vector_2dof_Pi.svg to complex_vector_2dof_pi.svg --- .../{Complex_vector_2dof_Pi.svg => complex_vector_2dof_pi.svg} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename docs/source/control/figs/{Complex_vector_2dof_Pi.svg => complex_vector_2dof_pi.svg} (100%) diff --git a/docs/source/control/figs/Complex_vector_2dof_Pi.svg b/docs/source/control/figs/complex_vector_2dof_pi.svg similarity index 100% rename from docs/source/control/figs/Complex_vector_2dof_Pi.svg rename to docs/source/control/figs/complex_vector_2dof_pi.svg