From 12bbc1ce739bf1d2b8ae714e11e95844ca6f3102 Mon Sep 17 00:00:00 2001 From: Lakshu Periakaruppan Date: Thu, 16 Apr 2020 11:45:05 -0400 Subject: [PATCH] Added positional control and discretized model --- src/PlantModel.m | 22 ++++++++++++++-------- src/PlantModelSim.slx | Bin 28023 -> 32430 bytes 2 files changed, 14 insertions(+), 8 deletions(-) diff --git a/src/PlantModel.m b/src/PlantModel.m index 7ce7302..62e9172 100644 --- a/src/PlantModel.m +++ b/src/PlantModel.m @@ -47,6 +47,8 @@ C = [1 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] D = zeros(6,4) +sys = ss(A,B,C,D); +sysd = c2d(sys, 1/100); x0 = 0; y0 = 0; @@ -62,16 +64,20 @@ thetadot0 = 0; psidot0 = 0; initialCondition = [x0, y0, z0, xdot0, ydot0, zdot0, phi0, theta0, psi0, phidot0, thetadot0, psidot0]; +%% %Gains -kpp = 10; -kdp = 0.2; +kpp = 0.4754; +kdp = .1; -kpt = 4; -kdt = 0.2; +kpt = 0.4754; +kdt = 0.1; -kpps = 1; -kdps = .4; +kpps = 0.0901; +kdps = 0.0486; -kpz = 100; -kdz = 20; +kpz = 4.0670; +kdz = 2.9031; +Q = zeros(12); Q(7:9, 7:9) = eye(3); +R = 1; +%K = lqr(A,B,Q,R); \ No newline at end of file diff --git a/src/PlantModelSim.slx b/src/PlantModelSim.slx index 27978175fc6648af82bdcf3339e3b4f0f18654ca..6614cb6862fa75eaa8abed37b8917e0c94dd43f0 100644 GIT binary patch delta 27937 zcmZVk1CVFW4>ydCtsUE*9ox2T+cv(lW9vJ%tsUDoc5K_`zWe{(=hl0lx>c!@?j-$5 zQt7JGC#PT5L2JK25tU@YA<#iUKwv;RbrXIgqJe?`iW2O>Pd-inr+wAc)q`zT&;0_Tc2=s=o~w*& zGc{m^^Z{+ba#=iyJfWl`D@uM0(;=YoCBGQ^I(D&+?O$)(vRw`vJ(nr9@4B}LaOIKNz2O|T))hUnM12fjDtqOK6mow9ii?1V1dUcBBL`J( zSivnlzf8BQwfCVp>@S|BMDx;^yyIYU{98UD&wXA@w~`qDuNo-TDYP4m{Hus0C@Ac-3zHj*ceL zlZL#Q!ISVRqsotSSb15>r%Fq)4sN98L_~$4R9aV$^N^2lr2Z5Y15$JL$u|Gw<*fmwFBx)ZkD zLTTy2hY79f{Ux+($an>~!yH->Z5}51zseqyzx5udAzd$}-2Tauxz5M~|IP12_qvym z)vB(3d~i3Q$UPC#OXU(pbsl}zd*PKr z!*{Z4q+=*wu8{d>Q$b?*LZ@hTuKj^7x%_XB4qK;<)1KF_ z8kSd35$X_d-;#g7Qm~4I^Al56Nni>=qG5E^K|rKbptgO6&D$$w0qumxxq$_!fnW2JiYKP znBOfeJzAngKPWs#!ox$|3&7&14_#ec1Y+Ym?d<3oD%&Ihb%_WKUnk@t#8KK^5)u+w 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