PhaseLagBudgetScenario
Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/realtime.py.
Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.
A loop with crossover crossover sampled every sample_period, with compute and transport delays.
Notes
Equation: Result = mlsysim.solvers.PhaseLagBudgetModel.solve with the named scenario fields; no extra fitting or postprocessing is applied.
Assumptions: The supplied inputs use the units and validity regime documented by PhaseLagBudgetModel.solve; this class binds one reproducible configuration.
Excludes: Any behavior excluded by PhaseLagBudgetModel.solve, and measurement or calibration of the supplied inputs.
References
Implementation reference: mlsysim.solvers.PhaseLagBudgetModel.solve documents the composed equation and its sources.
Examples
The named registry scenario supplies the stated inputs; this is a modeled calculation, not a new measurement.
>>> from mlsysim import Scenarios
>>> scenario = Scenarios.WarehouseJointLoopThroughTick
>>> round((scenario.result.hold_delay).to('ms').magnitude, 6)
0.5Attributes
| Name | Description |
|---|---|
| compute_delay | |
| crossover | |
| phase_allowance | |
| result | Return mlsysim.solvers.PhaseLagBudgetModel.solve for this scenario; output fields retain the units and feasibility semantics specified by that solver. |
| sample_period | |
| transport_delay |
crossover
Type: Quantity.
Declared default: required.
sample_period
Type: Quantity.
Declared default: required.
compute_delay
Type: Optional[Quantity].
Declared default: None.
transport_delay
Type: Optional[Quantity].
Declared default: None.
phase_allowance
Type: Optional[Quantity].
Declared default: None.
result
engine.scenario_types.PhaseLagBudgetScenario.result
Return mlsysim.solvers.PhaseLagBudgetModel.solve for this scenario; output fields retain the units and feasibility semantics specified by that solver.
Equation: mlsysim.solvers.PhaseLagBudgetModel.solve (scenario fields).