From 877912e9bf84e428f3d06f98240dcc27d385c4f6 Mon Sep 17 00:00:00 2001
From: xdemenchuk <demenchuk.1@osu.edu>
Date: Mon, 6 Dec 2021 12:54:58 -0500
Subject: [PATCH] past attempts/diff calculations

---
 SimPkg_F21(student_ver)/xenia_attempts_save.m | 74 +++++++++++++++----
 1 file changed, 61 insertions(+), 13 deletions(-)

diff --git a/SimPkg_F21(student_ver)/xenia_attempts_save.m b/SimPkg_F21(student_ver)/xenia_attempts_save.m
index 7d71ed9..8c43c4c 100644
--- a/SimPkg_F21(student_ver)/xenia_attempts_save.m
+++ b/SimPkg_F21(student_ver)/xenia_attempts_save.m
@@ -1,9 +1,9 @@
 %% trying to figure out jacobian 
 %constants
-syms Nw f Iz a b By Cy Dy Ey Shy Svy m g 
+syms Nw f Iz a b By Cy Dy Ey Shy Svy m g real
 
-syms delta_f F_x 
-x = sym('x', [1 6]);
+syms delta_f F_x real
+x = sym('x', [1 6], 'real');
 %generate input functions
 % delta_f=interp1(T,U(:,1),t,'previous','extrap');
 % F_x=interp1(T,U(:,2),t,'previous','extrap');
@@ -26,21 +26,69 @@ F_total=sqrt((Nw*F_x)^2+(F_yr^2));
 F_max=0.7*m*g;
 
 
+% eq1 = x(2)*cos(x(5))-x(4)*sin(x(5));
+% a11 = diff(eq1, x(1))
+% a12 = diff(eq1, x(2))
+% a13 = diff(eq1, x(3))
+% a14 = diff(eq1, x(4))
+% a15 = diff(eq1, x(5))
+% a16 = diff(eq1, x(6))
+% b11 = diff(eq1, delta_f)
+% b12 = diff(eq1, F_x)
 
-negFyf = -F_yf;
-negFyfsindeltaf = negFyf*sin(delta_f);
+% eq2 = 1/m*(-f*m*g + Nw*F_x - F_yf*sin(delta_f))+x(4)*x(6);
+% a21 = diff(eq2, x(1));
+% a22 = diff(eq2, x(2));
+% a23 = diff(eq2, x(3));
+% a24 = diff(eq2, x(4));
+% a25 = diff(eq2, x(5));
+% a26 = diff(eq2, x(6));
+% b21 = diff(eq2, delta_f);
+% b22 = diff(eq2, F_x);
 
-Fyfcosdeltaf = F_yf*cos(delta_f);
+% eq3 = x(2)*sin(x(5)) + x(4)*cos(x(5));
+% a31 = diff(eq3, x(1))
+% a32 = diff(eq3, x(2))
+% a33 = diff(eq3, x(3))
+% a34 = diff(eq3, x(4))
+% a35 = diff(eq3, x(5))
+% a36 = diff(eq3, x(6))
+% b31 = diff(eq3, delta_f)
+% b32 = diff(eq3, F_x)
 
-aFyfcosdeltaf = a*F_yf*cos(delta_f);
+% eq4 = 1/m*(F_yf*cos(delta_f) + F_yr) - x(2)*x(4)
+% a41 = diff(eq4, x(1))
+% a42 = diff(eq4, x(2))
+% a43 = diff(eq4, x(3))
+% a44 = diff(eq4, x(4))
+% a45 = diff(eq4, x(5))
+% a46 = diff(eq4, x(6))
+% b41 = diff(eq4, delta_f)
+% b42 = diff(eq4, F_x)
 
-negbFyr = -b*F_yr;
+eq5 = x(6);
+% a51 = diff(eq5, x(1))
+% a52 = diff(eq5, x(2))
+% a53 = diff(eq5, x(3))
+% a54 = diff(eq5, x(4))
+% a55 = diff(eq5, x(5))
+% a56 = diff(eq5, x(6))
+% b51 = diff(eq5, delta_f)
+% b52 = diff(eq5, F_x)
 
-eq1difu = diff(negFyfsindeltaf, x(2))
-eq1difv = diff(negFyfsindeltaf, x(4))
-eq1difr = diff(negFyfsindeltaf, x(6))
-eq1difdeltaf = diff(negFyfsindeltaf, delta_f)
-eq1difFx = diff(negFyfsindeltaf, F_x)
+eq6 = 1/Iz*(a*F_yf*cos(delta_f)-b*F_yr);
+a61 = diff(eq6, x(1))
+a62 = diff(eq6, x(2))
+a63 = diff(eq6, x(3))
+a64 = diff(eq6, x(4))
+a65 = diff(eq6, x(5))
+a66 = diff(eq6, x(6))
+b61 = diff(eq6, delta_f)
+b62 = diff(eq6, F_x)
+% (delta_f - arctan((v+a*r)/u))
+% ((1-E_y)*((delta_f - arctan((v+a*r)/u)) + S_hy) + E_y/B_y * arctan(B_y*((delta_f - arctan((v+a*r)/u))+S_hy)))
+% F_zf*D_y*sin(C_y*arctan(B_y*((1-E_y)*((delta_f - arctan((v+a*r)/u)) + S_hy) + E_y/B_y 
+% * arctan(B_y*((delta_f - arctan((v+a*r)/u))+S_hy))))) + S_vy
 
 
 %% nonlinear using reference trajectory segments