From 0de43c3cb81f9dc863d0effdf85bf340b2447e9e Mon Sep 17 00:00:00 2001 From: Lakshu Periakaruppan Date: Sat, 11 Apr 2020 15:11:34 -0400 Subject: [PATCH] Added PD controller --- src/.gitignore | 4 ++ src/PlantModel.m | 128 +++++++++++++++++++++++++----------------- src/PlantModelSim.slx | Bin 23788 -> 28023 bytes 3 files changed, 81 insertions(+), 51 deletions(-) create mode 100644 src/.gitignore diff --git a/src/.gitignore b/src/.gitignore new file mode 100644 index 0000000..926ed9f --- /dev/null +++ b/src/.gitignore @@ -0,0 +1,4 @@ +*.slxc +*.slx.autosave +*.asv +slprj diff --git a/src/PlantModel.m b/src/PlantModel.m index 09e7c6c..7ce7302 100644 --- a/src/PlantModel.m +++ b/src/PlantModel.m @@ -1,51 +1,77 @@ -% Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf -g=9.81; -m = .468; -Ix = 4.856*10^-3; -Iy = 4.856*10^-3; -Iz = 8.801*10^-3; - -% State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf -% X' = Ax+Bu -% y = Cx+Du - -% Inputs: -% U1: Total Upward Force on the quad rotor along z-axis -% U2: Pitch Torque (about x-axis) -% U3: Roll Torque (about y-axis) -% U4: Yaw Torque (about z-axis) -A = [0 0 0 1 0 0 0 0 0 0 0 0;... - 0 0 0 0 1 0 0 0 0 0 0 0;... - 0 0 0 0 0 1 0 0 0 0 0 0;... - 0 0 0 0 0 0 0 -g 0 0 0 0;... - 0 0 0 0 0 0 g 0 0 0 0 0;... - 0 0 0 0 0 0 0 0 0 0 0 0;... - 0 0 0 0 0 0 0 0 0 1 0 0;... - 0 0 0 0 0 0 0 0 0 0 1 0;... - 0 0 0 0 0 0 0 0 0 0 0 1;... - 0 0 0 0 0 0 0 0 0 0 0 0;... - 0 0 0 0 0 0 0 0 0 0 0 0;... - 0 0 0 0 0 0 0 0 0 0 0 0]; - -% Note: In paper, 1/m is in wrong spot -B = [0 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 1/m 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 0 1/Ix 0 0;... - 0 0 1/Iy 0;... - 0 0 0 1/Iz]; - -C = [1 0 0 0 0 0 0 0 0 0 0 0;... - 0 1 0 0 0 0 0 0 0 0 0 0;... - 0 0 1 0 0 0 0 0 0 0 0 0;... - 0 0 0 0 0 0 1 0 0 0 0 0;... - 0 0 0 0 0 0 0 1 0 0 0 0;... - 0 0 0 0 0 0 0 0 1 0 0 0]; - -D = zeros(6,4); +%Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf +g=9.81; +m = .468; +Ix = 4.856*10^-3; +Iy = 4.856*10^-3; +Iz = 8.801*10^-3; + +%State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf +%X' = Ax+Bu +%y = Cx+Du + +%Inputs: +%U1: Total Upward Force on the quad rotor along z-axis +%U2: Pitch Torque (about x-axis) +%U3: Roll Torque (about y-axis) +%U4: Yaw Torque (about z-axis) +A = [0 0 0 1 0 0 0 0 0 0 0 0;... + 0 0 0 0 1 0 0 0 0 0 0 0;... + 0 0 0 0 0 1 0 0 0 0 0 0;... + 0 0 0 0 0 0 0 -g 0 0 0 0;... + 0 0 0 0 0 0 g 0 0 0 0 0;... + 0 0 0 0 0 0 0 0 0 0 0 0;... + 0 0 0 0 0 0 0 0 0 1 0 0;... + 0 0 0 0 0 0 0 0 0 0 1 0;... + 0 0 0 0 0 0 0 0 0 0 0 1;... + 0 0 0 0 0 0 0 0 0 0 0 0;... + 0 0 0 0 0 0 0 0 0 0 0 0;... + 0 0 0 0 0 0 0 0 0 0 0 0]; + +%Note: In paper, 1/m is in wrong spot +B = [0 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 1/m 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 0 1/Ix 0 0;... + 0 0 1/Iy 0;... + 0 0 0 1/Iz]; +C = [1 0 0 0 0 0 0 0 0 0 0 0;... + 0 1 0 0 0 0 0 0 0 0 0 0;... + 0 0 1 0 0 0 0 0 0 0 0 0;... + 0 0 0 0 0 0 1 0 0 0 0 0;... + 0 0 0 0 0 0 0 1 0 0 0 0;... + 0 0 0 0 0 0 0 0 1 0 0 0] +D = zeros(6,4) + +x0 = 0; +y0 = 0; +z0 = 0; +xdot0 = 0; +ydot0 = 0; +zdot0 = 0; +phi0 = 10*(pi/180); +theta0 = 10*(pi/180); +psi0 = 0; +phidot0 = 0; +thetadot0 = 0; +psidot0 = 0; +initialCondition = [x0, y0, z0, xdot0, ydot0, zdot0, phi0, theta0, psi0, phidot0, thetadot0, psidot0]; + +%Gains +kpp = 10; +kdp = 0.2; + +kpt = 4; +kdt = 0.2; + +kpps = 1; +kdps = .4; + +kpz = 100; +kdz = 20; + diff --git a/src/PlantModelSim.slx b/src/PlantModelSim.slx index 537a893763cba5ad2413d0daaecb537a3b00191d..27978175fc6648af82bdcf3339e3b4f0f18654ca 100644 GIT binary patch delta 22060 zcmY(qQ;;rPtS#EMZQJ&0+gNSeHovxQ+qP|6t8Lrv^Y48h&OJ}5nzJf3=SV7*j3ieb zz^@y?@QN~^U}!)2|(s34&K$tF^eIAC}j&nU%0;Ff-EU?8B*q&`qafL4CX z;$M(u6S-PLS!Les)8or zW7elmy(?h1;^zJAHT?5^{KR%D#L4o&+1uKu?r1%)brQq- 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