sravan/Quadcopter-Control
1
0
Fork 0
mirror of https://github.com/ME-561-W20-Quadcopter-Project/Quadcopter-Control.git synced 2025-09-03 14:03:15 +00:00
Code Issues Packages Projects Releases Wiki Activity

Plant state space model

Browse Source 
Put plant state space model in Simulink
This commit is contained in:
Lakshu Periakaruppan
2020-04-07 16:09:03 -04:00
parent 9de5944497
commit 7bc92f3e7e
3 changed files with 56 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
.gitignore vendored Normal file
View File

@@ -0,0 +1,4 @@
*.slxc
*.slx.autosave
*.asv
slprj

52
PlantModel.m Normal file
View File

@@ -0,0 +1,52 @@
%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)

BIN
PlantModelSim.slx Normal file
View File

Binary file not shown.