sync

scripts/string_model_ss.py

@@ -2,6 +2,7 @@
 import scipy.signal as sig
 import matplotlib.pyplot as plt
 import numpy as np
+import sounddevice as sd
 import math
 
 # simple first order step response simulation
@@ -32,8 +33,11 @@ import math
 f_1 = 440 # fundamental frequency
 def f_n(n):
     return f_1 * n
+omega_1 = 2*math.pi*f_1
+b = 0.01
 def omega_n(n):
-    return 2*math.pi*f_n(n) # a cooler option would be omega_n = c*n*omega_1*sqrt(1+B*n^2) to factor in string stiffness to its vibration mode
+    # return 2*math.pi*f_n(n) # a cooler option would be omega_n = c*n*omega_1*sqrt(1+B*n^2) to factor in string stiffness to its vibration mode
+    return 1.001*omega_1*math.sqrt(1+b*n**2)
 
 # x = [ q1, q1dot, q2, q2dot, q3, q3dot ]^T < --state vector
 omega_1 = omega_n(1)
@@ -52,7 +56,7 @@ A = [
     ] # isnt this formatting gorgeous
 
 B = [ [0], [0.707], [0], [0], [0], [-0.707] ]
-c_1 = 0.001
+c_1 = 0.0001
 c_2 = c_1 / 2
 c_3 = c_1 / 3
 C = [[-c_1*omega_1**2, -2*c_1*zeta_1*omega_1, -c_2*omega_2**2, -2*c_2*zeta_2*omega_2, -c_3*omega_3**2, -2*c_3*zeta_3*omega_3]]
@@ -80,3 +84,6 @@ plt.xlabel("t")
 plt.ylabel("y")
 plt.grid()
 plt.show()
+
+sd.play(y, 44100)
+sd.wait()