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Python based modular simulation & postprocessing kickass toolbox

Project description

PyMoskito

Continuous Integration Tests Link to PyPi Documentation Status DOI index 49145679

PyMoskito stands for Python based modular simulation & postprocessing kickass toolbox and is Free software (GPLv3)

PyMoskito is targeted at students and researchers working in control engineering. It takes care of all structure related programming a let’s you focus on the important things in life: control design.

It features a modular control loop structure that already contains most of the needed blocks a control engineer needs. Basically you implement your systems dynamics as well as a fancy control law and you are ready to go. On top PyMoskito also contains a GUI which let’s you easily fine-tune the parameters of your simulation.

Go ahead and give it a try!

Documentation can be found at https://pymoskito.readthedocs.org.

PyMoskito at work

The main application simulating the Tandem Pendulum system:

Image showing the awesome toolbox at work

Still here? So PyMoskito features

  • Quick setup due to lightweight dependencies
  • Modular control loop structure allowing easy configuration
  • Easy integration of own system models through open interface
  • Automatic simulation of simulation regimes (i.e. for parameter ranges)
  • Export of simulation results for dedicated post processing
  • VTK based 3D visualization interface
  • Playback functions for 3D visualization
  • Ready-to-go graphs for all simulation signals
  • Execution of external C++ code via pybind11

Getting started

Install with pip:

$ pip install pymoskito

and run an example:

$ python -m pymoskito.examples.pendulum

History

0.4.0 (2021-09-17)

  • Added support to compile and call external C and C++ functions for hardware in the loop tests (Thanks to Jens)
  • Add the possibility for the visualization the render the current model parameters (#56)
  • Various improvements regarding plot creation and handling
  • Visualizers can now be changed during runtime
  • Migrated CI pipeline to Github Actions
  • Fix various coding style issues
  • Fix issue in playback logic (#62)
  • Dropped support for Python 3.6

0.3.0 (2018-10-01)

  • Added a new plot system
  • Added a last simulation list
  • Added more log messages
  • Removed latex as an requirement for the main GUI, only required for the Postprocessor

0.2.3 (2018-05-14)

  • Added sensible examples for Post- and Meta processors in the Ball and Beam example
  • Fixed Issue regarding the Disturbance Block
  • Removed error-prone pseudo post processing
  • Fixed problems due to changes in trajectory generators

0.2.2 (2018-03-28)

  • Added extensive beginners guide (thanks to Jonas) and tutorial section
  • Added extended documentation for examples (again, thanks to Jonas)

0.2.1 (2017-09-07)

  • Fixed issue when installing via pip
  • Fixed issue with metaprocessors and added example metaprocessor for ballbeam
  • Downgraded requirements

0.2.0 (2017-08-18)

  • Second minor release with lots of new features.
  • Completely overhauled graphical user interface with menus and shortcuts.
  • PyMoskito now comes with three full-fledged examples from the world of control theory, featuring the Ball and Beam- and a Tandem-Pendulum system.
  • The main application now has a logger window which makes it easier to see what is going on in the simulation circuit.
  • Several bugs concerning encoding issues have been fixed
  • Unittest have been added and the development now uses travis-ci
  • Version change from PyQt4 to Pyt5
  • Version change form Python 2.7 to 3.5+
  • Changed version to GPLv3 and added appropriate references for the used images.
  • Improved the export of simulation results
  • Introduced persistent settings that make opening files less painful.
  • Made vtk an optional dependency and added matplotlib based visualizers.
  • Large improvements concerning the sphinx-build documentation
  • Fixed issue concerning possible data types for simulation module properties
  • Introduced new generic modules that directly work on scipy StateSpace objects.

0.1.0 (2015-01-11)

  • First release on PyPI.

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