{ "cells": [ { "cell_type": "markdown", "metadata": { "id": "I_b5TS1Hj_-Q" }, "source": [ "# Teoría de Circuitos 2022 - Laboratorio 3\n", "## Script de procesamiento de señales\n", "\n", "En este archivo se podrán generar, leer y procesar las señales sinusoidales adquiridas por la Arduino y también podrán realizar el diagrama de Bode correspondiente." ] }, { "cell_type": "markdown", "metadata": { "id": "nqMfnq-1kpof" }, "source": [ "Importación de librerías:" ] }, { "cell_type": "code", "execution_count": 9, "metadata": { "id": "o8kUyPSV9JGY" }, "outputs": [], "source": [ "# -*- coding: utf-8 -*-\n", "import numpy as np\n", "import matplotlib.pyplot as plt" ] }, { "cell_type": "markdown", "metadata": { "id": "I9nioBxJzuLd" }, "source": [ "#Diagrama de Bode\n", "En esta parte se realizan los diagramas de Bode de la transferencias del laboratorio." ] }, { "cell_type": "markdown", "metadata": { "id": "IbOOwd370VcE" }, "source": [ "Definición de funciones:" ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "id": "nFTjP7ia0Yjz" }, "outputs": [], "source": [ "def get_H1(jw,wc):\n", " # Transferencia\n", " return wc/(wc+jw)\n", "\n", "def get_Ha1(jw,wc):\n", " # Transferencia asintótica\n", " # Condición lógica: 1 sí w< wc, (wc/jw) si no\n", " return 1*(w<=wc) + (wc/jw)*(w>wc)\n", "\n", "def get_H2(jw,wc,G):\n", " return \n", "\n", "def get_Ha2(jw,wc,G):\n", " return \n", "\n", "def get_H3(jw,wc1,wc2,G):\n", " return \n", "\n", "def get_Ha3(jw,wc1,wc2,G):\n", " return \n" ] }, { "cell_type": "markdown", "source": [ "# Parte 1\n", "Elija las variables para realizar el diagrama de Bode de esta parte" ], "metadata": { "id": "ODGfgHQ3Zjob" } }, { "cell_type": "code", "execution_count": 10, "metadata": { "id": "ooT9ct2G1Ac7" }, "outputs": [], "source": [ "# Constantes\n", "pi = np.pi\n", "j = 1j \n", "\n", "# Variables\n", "fc1 = 15 # Hz\n", "fmin = 0.05\n", "fmax = 500\n", "logf = np.arange(np.log10(fmin),np.log10(fmax),0.01)\n", "f = 10**logf # Vector de frecuencias, escala logarítmica.\n", "\n", "wc1 = 2*pi*fc1 # Frecuencia angular de corte\n", "w = 2*pi*f\n", "\n", "# Transferencia\n", "H1 = get_H1(j*w,wc1)\n", "\n", "# Transferencias asintóticas\n", "Ha1 = get_Ha1(j*w,wc1)\n", "\n", "# Cálculo de módulo y fase\n", "# Real:\n", "modH1_db = 20*np.log10(np.abs(H1))\n", "angleH1 = 180*np.angle(H1)/pi\n", "\n", "# Asintótico\n", "modHa1_db = 20*np.log10(np.abs(Ha1))\n", "angleHa1 = 180*np.angle(Ha1)/pi\n", "\n", "#Experimental:\n", "f_exp1 = np.array([0.15,0.5,1.5, 5,15,50,150]) # Agregar valores (los que aparecen acá son sólo de ejemplo)\n", "w_exp1 = 2*pi*f_exp1\n", "modH1_exp_db = 20*np.log10(np.array([8.73,32.4,59.3,42.23,36.41,50.39,24.01])) # Agregar valores (los que aparecen acá son sólo de ejemplo)\n", "angleH1_exp_M1 = np.array([0,0,71.32,35.13,1.20,-59.24,0]) # Agregar valores (los que aparecen acá son sólo de ejemplo)\n", "angleH1_exp_M2 = np.array([97.30,85.99,70.6,34.23,5.85,-1.43,-15.50]) # Agregar valores (los que aparecen acá son sólo de ejemplo)\n", "\n" ] }, { "cell_type": "markdown", "metadata": { "id": "Cp92-MDa4FIk" }, "source": [ "Diagrama de Bode $H_1(j\\omega)$" ] }, { "cell_type": "code", "execution_count": 11, "metadata": { "colab": { "base_uri": "https://localhost:8080/", "height": 561 }, "id": "PnJ-3fiF5TPi", "outputId": "aab7eeab-fd65-4cab-cad3-799a536c803c" }, "outputs": [ { "output_type": "display_data", "data": { "text/plain": [ "
" ], "image/png": "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\n" }, "metadata": { "needs_background": "light" } } ], "source": [ "plt.figure(figsize=[15,8])\n", "plt.subplots_adjust(hspace=0.3)\n", "plt.subplot(211)\n", "plt.plot(w,modH1_db,label='$H_1(j\\omega)$')\n", "plt.plot(w,modHa1_db,'r',label='$H_{a1}(j\\omega)$')\n", "plt.plot(w_exp1,modH1_exp_db,'m*',label='$H_{1,exp}(j\\omega)$')\n", "plt.xlabel('$\\omega$ (rad/s)')\n", "plt.xscale('log')\n", "plt.ylabel('$|H(j\\omega)|_{db}$')\n", "plt.title('módulo')\n", "plt.legend()\n", "plt.grid()\n", "\n", "plt.subplot(212)\n", "plt.plot(w,angleH1,label='$H_1(j\\omega)$')\n", "plt.plot(w,angleHa1,'r',label='$H_{a1}(j\\omega)$')\n", "plt.plot(w_exp1,angleH1_exp_M1,'m*',label='$H_{1,expM1}(j\\omega)$')\n", "plt.plot(w_exp1,angleH1_exp_M2,'g*',label='$H_{1,expM2}(j\\omega)$')\n", "plt.xlabel('$\\omega$ (rad/s)')\n", "plt.xscale('log')\n", "plt.ylabel('$\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[1;32m 18\u001b[0m \u001b[0;31m# Cálculo de módulo y fase\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 19\u001b[0m \u001b[0;31m# Real:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 20\u001b[0;31m \u001b[0mmodH2_db\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;36m20\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mlog10\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mabs\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mH2\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 21\u001b[0m \u001b[0mangleH2\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;36m180\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mangle\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mH2\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m/\u001b[0m\u001b[0mpi\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 22\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n", "\u001b[0;31mTypeError\u001b[0m: bad operand type for abs(): 'NoneType'" ] } ] }, { "cell_type": "markdown", "source": [ "Diagrama de Bode $H_2(j\\omega)$" ], "metadata": { "id": "ll472-J2dihh" } }, { "cell_type": "code", "source": [ "plt.figure(figsize=[15,8])\n", "plt.subplots_adjust(hspace=0.3)\n", "plt.subplot(211)\n", "plt.plot(w,modH2_db,label='$H_2(j\\omega)$')\n", "plt.plot(w,modHa2_db,'r',label='$H_{a2}(j\\omega)$')\n", "plt.plot(w_exp2,modH2_exp_db,'m*',label='$H_{2,exp}(j\\omega)$')\n", "plt.xlabel('$\\omega$ (rad/s)')\n", "plt.xscale('log')\n", "plt.ylabel('$|H(j\\omega)|_{db}$')\n", "plt.title('módulo')\n", "plt.legend()\n", "plt.grid()\n", "\n", "plt.subplot(212)\n", "plt.plot(w,angleH2,label='$H_2(j\\omega)$')\n", "plt.plot(w,angleHa2,'r',label='$H_{a2}(j\\omega)$')\n", "plt.plot(w_exp2,angleH2_exp_M1,'m*',label='$H_{2,expM1}(j\\omega)$')\n", "plt.plot(w_exp2,angleH2_exp_M2,'g*',label='$H_{2,expM2}(j\\omega)$')\n", "plt.xlabel('$\\omega$ (rad/s)')\n", "plt.xscale('log')\n", "plt.ylabel('$