diff --git a/PIDReview/PIDReview.js b/PIDReview/PIDReview.js
index d8c50ada..9c089937 100644
--- a/PIDReview/PIDReview.js
+++ b/PIDReview/PIDReview.js
@@ -136,6 +136,7 @@ function reset() {
Spectrogram.data[i].x = []
Spectrogram.data[i].y = []
}
+ show_step_stats([])
document.getElementById("calculate").disabled = true
@@ -1027,6 +1028,120 @@ function redraw_Spectrogram() {
Plotly.redraw("Spectrogram")
}
+// Step response stats, relative to the final value
+const step_stats_end_time = 0.4
+const step_stats_final_start = 0.2
+const step_stats_final_min = 0.5
+const step_stats_final_max = 1.5
+function get_step_stats(time, response) {
+ // The end of the estimate is not used as it can turn up or down due to the method
+ const end_index = time.findIndex((t) => t > step_stats_end_time)
+ const len = (end_index > 0) ? end_index : response.length
+ const final_start = time.findIndex((t) => t >= step_stats_final_start)
+ if ((len < 20) || (final_start < 0) || (final_start >= len - 1)) {
+ return
+ }
+
+ // Final value is the mean of the response over the final window
+ let final = 0
+ for (let i = final_start; i < len; i++) {
+ final += response[i]
+ }
+ final /= len - final_start
+ if (!(final >= step_stats_final_min) || !(final <= step_stats_final_max)) {
+ // Estimate does not settle near 1, stats would be misleading
+ return { final, unreliable: true }
+ }
+
+ // Rise time from 10% to 90%
+ const i10 = response.findIndex((y) => y >= 0.1 * final)
+ const i90 = response.findIndex((y) => y >= 0.9 * final)
+ const rise_time = ((i10 >= 0) && (i90 >= 0) && (i90 < len)) ? time[i90] - time[i10] : null
+
+ // Peak and overshoot
+ let peak_index = 0
+ for (let i = 1; i < len; i++) {
+ if (response[i] > response[peak_index]) {
+ peak_index = i
+ }
+ }
+ const peak = response[peak_index]
+
+ // Overshoot only if the peak is before the final window, otherwise the response is still rising
+ const overshoot = (peak_index < final_start) ? Math.max(0, (peak - final) / final) * 100 : null
+
+ // Settling time, last time outside 5% of the final value, must settle before the end of the final window
+ let settling_index = 0
+ for (let i = len - 1; i >= 0; i--) {
+ if (Math.abs(response[i] - final) > 0.05 * final) {
+ settling_index = i + 1
+ break
+ }
+ }
+ const settling_time = (settling_index < len) ? time[settling_index] : null
+
+ return { final, rise_time, peak, peak_time: time[peak_index], overshoot, settling_time }
+}
+
+// Show table of step response stats
+function show_step_stats(stats) {
+ let div = document.getElementById("step_stats")
+ div.replaceChildren()
+ div.hidden = stats.length == 0
+ if (stats.length == 0) {
+ return
+ }
+
+ let table = document.createElement("table")
+ table.style.borderCollapse = "collapse"
+ table.style.margin = "0 auto"
+ div.appendChild(table)
+
+ function add_cell(row, type, text, color) {
+ let cell = document.createElement(type)
+ cell.style.border = "1px solid #000"
+ cell.style.padding = "4px 8px"
+ if (color != null) {
+ cell.style.color = color
+ }
+ cell.appendChild(document.createTextNode(text))
+ row.appendChild(cell)
+ }
+ function ms(time) {
+ return (time == null) ? "-" : (time * 1000).toFixed(0) + " ms"
+ }
+
+ let header = document.createElement("tr")
+ table.appendChild(header)
+ for (const title of ["", "Rise time (10-90%)", "Peak", "Peak time", "Overshoot", "Settling time (5%)", "Final value"]) {
+ add_cell(header, "th", title)
+ }
+ for (const set of stats) {
+ let row = document.createElement("tr")
+ table.appendChild(row)
+ add_cell(row, "td", set.name, set.color)
+ if (set.unreliable) {
+ for (let i = 0; i < 5; i++) {
+ add_cell(row, "td", "-")
+ }
+ add_cell(row, "td", set.final.toFixed(2))
+ continue
+ }
+ add_cell(row, "td", ms(set.rise_time))
+ add_cell(row, "td", set.peak.toFixed(2))
+ add_cell(row, "td", ms(set.peak_time))
+ add_cell(row, "td", (set.overshoot == null) ? "-" : set.overshoot.toFixed(0) + " %")
+ add_cell(row, "td", (set.settling_time == null) ? "> " + ms(step_stats_end_time) : ms(set.settling_time))
+ add_cell(row, "td", set.final.toFixed(2))
+ }
+
+ let note = document.createElement("p")
+ note.style.margin = "4px 0 0 0"
+ note.style.textAlign = "center"
+ note.appendChild(document.createTextNode("Measured on the mean response up to " + ms(step_stats_end_time) + ", relative to its final value (mean from " + ms(step_stats_final_start) + " to " + ms(step_stats_end_time) + "). Not shown if the final value is not between " + step_stats_final_min + " and " + step_stats_final_max + ". Overshoot is not shown if the peak is in the final value window."))
+ div.appendChild(note)
+}
+
// Redraw step response
function redraw_step() {
if ((PID_log_messages == null) || !PID_log_messages.have_data) {
@@ -1035,6 +1150,9 @@ function redraw_step() {
const PID = PID_log_messages[get_axis_index()]
+ // Stats for the mean step response of each set
+ let step_stats = []
+
// Although we re-calculate the FFT, because were just using larger window overlap the original FFT can still be checked for validity
const num_sets = PID.sets.length
var valid_sets = 0
@@ -1049,6 +1167,7 @@ function redraw_step() {
step_plot.data[plot_index].y = []
}
if (valid_sets == 0) {
+ show_step_stats([])
Plotly.redraw("step_plot")
return
}
@@ -1199,6 +1318,14 @@ function redraw_step() {
step_plot.data[plot_index].visible = (valid_sets == 1)
}
+ // Stats of the final mean for this set
+ if (mean_count > 0) {
+ const stats = get_step_stats(time, step_plot.data[plot_index+1].y)
+ if (stats != null) {
+ step_stats.push(Object.assign({ name: "Test " + (j+1), color: plot_default_color(j) }, stats))
+ }
+ }
+
}
step_plot.layout.yaxis.range = [0, 2]
@@ -1206,6 +1333,8 @@ function redraw_step() {
Plotly.redraw("step_plot")
+ show_step_stats(step_stats)
+
}
// Update lines that are shown in FFT plot
diff --git a/PIDReview/index.html b/PIDReview/index.html
index c6b5cae8..6387777e 100644
--- a/PIDReview/index.html
+++ b/PIDReview/index.html
@@ -254,6 +254,7 @@
+