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Small update to plant simulink model

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Lakshu Periakaruppan
2020-04-07 16:14:08 -04:00
parent 7bc92f3e7e
commit 1086c7ed3e
3 changed files with 54 additions and 54 deletions
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104
PlantModel.m
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%Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf %Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf
g=9.81; g=9.81;
m = .468; m = .468;
Ix = 4.856*10^-3; Ix = 4.856*10^-3;
Iy = 4.856*10^-3; Iy = 4.856*10^-3;
Iz = 8.801*10^-3; Iz = 8.801*10^-3;
%State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf %State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf
%X' = Ax+Bu %X' = Ax+Bu
%y = Cx+Du %y = Cx+Du
%Inputs: %Inputs:
%U1: Total Upward Force on the quad rotor along z-axis %U1: Total Upward Force on the quad rotor along z-axis
%U2: Pitch Torque (about x-axis) %U2: Pitch Torque (about x-axis)
%U3: Roll Torque (about y-axis) %U3: Roll Torque (about y-axis)
%U4: Yaw Torque (about z-axis) %U4: Yaw Torque (about z-axis)
A = [0 0 0 1 0 0 0 0 0 0 0 0;... 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 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 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 0 -g 0 0 0 0;...
0 0 0 0 0 0 g 0 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 0 0 0;...
0 0 0 0 0 0 0 0 0 1 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 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 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;... 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 %Note: In paper, 1/m is in wrong spot
B = [0 0 0 0;... B = [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;...
1/m 0 0 0;... 1/m 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 1/Ix 0 0;... 0 1/Ix 0 0;...
0 0 1/Iy 0;... 0 0 1/Iy 0;...
0 0 0 1/Iz]; 0 0 0 1/Iz];
C = [1 0 0 0 0 0 0 0 0 0 0 0;... 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 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 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 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 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 1 0 0 0]
D = zeros(6,4) D = zeros(6,4)

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PlantModelSim.slx
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README.md
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# Quadcopter Control # Quadcopter Control
ME/EECS 561 W20 Quadcopter control source code repository. ME/EECS 561 W20 Quadcopter control source code repository.