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Plant state space model

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Put plant state space model in Simulink
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Lakshu Periakaruppan
2020-04-07 16:09:03 -04:00
parent 9de5944497
commit 7bc92f3e7e
3 changed files with 56 additions and 0 deletions
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*.slxc
*.slx.autosave
*.asv
slprj

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PlantModel.m Normal file
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%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)

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PlantModelSim.slx Normal file
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