Python based modular simulation & postprocessing kickass toolbox
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:
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
Install with pip:
$ pip install pymoskito
and run an example:
$ python -m pymoskito.examples.pendulum
- 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
- 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
- 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
- Added extensive beginners guide (thanks to Jonas) and tutorial section
- Added extended documentation for examples (again, thanks to Jonas)
- Fixed issue when installing via pip
- Fixed issue with metaprocessors and added example metaprocessor for ballbeam
- Downgraded requirements
- 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.
- First release on PyPI.
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