Anson/Lander-Embedded
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fixed, gonna make some more changes to make sure we're utilizing our whole burn

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bpmcgeeney 2021-11-08 14:43:52 -07:00
parent fe1a5b9bc0
commit 87fb8f8621
4 changed files with 70 additions and 71 deletions
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36
include/Vehicle.h
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@ -28,47 +28,47 @@ struct Vehicle {
double I11, I22, I33; double I11, I22, I33;
double I11dot, I22dot, I33dot; double I11dot, I22dot, I33dot;
int maxServo; double maxServo;
int maxServoRate; double maxServoRate;
double xServoDegs, yServoDegs; double xServoDegs, yServoDegs;
double xServoDegsDot, yServoDegsDot; double xServoDegsDot, yServoDegsDot;
double Kp, Ki, Kd; double Kp, Ki, Kd;
double yError, yPrevError; double yError, yPrevError;
double pError, pPrevError; double pError, pPrevError;
double i_yError, i_pError = 0; double i_yError, i_pError = 0.0;
double d_yError, d_pError; double d_yError, d_pError;
double simTime; double simTime;
int stepSize; double stepSize;
int time = 0; double time = 0.0;
}; };
void init_Vehicle(Vehicle &State) { void init_Vehicle(Vehicle &State) {
// PID Gains // PID Gains
State.Kp = -6.8699; State.Kp = -6.8699;
State.Ki = 0; State.Ki = 0.0;
State.Kd = -0.775; State.Kd = -0.775;
// Initial Velocity // Initial Velocity
State.vx = 0; // [m/s] State.vx = 0.0; // [m/s]
State.vy = 0; // [m/s] State.vy = 0.0; // [m/s]
State.vz = 0; // [m/s] State.vz = 0.0; // [m/s]
// Initial YPR // Initial YPR
State.yaw = 45 * M_PI / 180; // [rad] State.yaw = 45.0 * M_PI / 180.0; // [rad]
State.pitch = 45 * M_PI / 180; // [rad] State.pitch = 45.0 * M_PI / 180.0; // [rad]
State.roll = 0 * M_PI / 180; // [rad] State.roll = 0.0 * M_PI / 180.0; // [rad]
// Initial YPRdot // Initial YPRdot
State.yawdot = 1 * M_PI / 180; // [rad/s] State.yawdot = 1.0 * M_PI / 180.0; // [rad/s]
State.pitchdot = -1 * M_PI / 180; // [rad/s] State.pitchdot = -1.0 * M_PI / 180.0; // [rad/s]
State.rolldot = 0 * M_PI / 180; // [rad/s] State.rolldot = 0.0 * M_PI / 180.0; // [rad/s]
// Servo Limitation // Servo Limitation
State.maxServo = 7; // [degs] State.maxServo = 7.0; // [degs]
State.maxServoRate = 360; // [degs/sec] State.maxServoRate = 360.0; // [degs/sec]
// Vehicle Properties // Vehicle Properties
State.massInitial = 1.2; // [kg] State.massInitial = 1.2; // [kg]
@ -77,7 +77,7 @@ void init_Vehicle(Vehicle &State) {
State.momentArm = 0.145; // [m] State.momentArm = 0.145; // [m]
// Sim Step Size // Sim Step Size
State.stepSize = 1; // [ms] State.stepSize = 1.0; // [ms]
// Other Properties // Other Properties
State.massPropellant = 0.06; // [kg] State.massPropellant = 0.06; // [kg]

55
include/sim.h
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@ -19,7 +19,7 @@ double const g = -9.81;
void burnStartTimeCalc(Vehicle &State) { void burnStartTimeCalc(Vehicle &State) {
double velocity = State.vz; double velocity = State.vz;
double h = 0; double h = 0.0;
double mass, thrust; double mass, thrust;
@ -37,39 +37,39 @@ void burnStartTimeCalc(Vehicle &State) {
else if ((i > 3.382) && (i < 3.46)) else if ((i > 3.382) && (i < 3.46))
thrust = -195.78 * i + 675.11; thrust = -195.78 * i + 675.11;
else else
thrust = 0; thrust = 0.0;
velocity = (((thrust / mass) + g) * dt) + velocity; velocity = (((thrust / mass) + g) * dt) + velocity;
h = (((thrust / mass) + g) * dt) + h; h = (((thrust / mass) + g) * dt) + h;
} }
State.z = h + (pow(velocity, 2) / (2 * -g)); // starting height State.z = h + (pow(velocity, 2) / (2.0 * -g)); // starting height
State.z = 18.9; State.z = 19.05;
State.burnVelocity = velocity; // terminal velocity State.burnVelocity = velocity; // terminal velocity
double burnStartTime = State.burnVelocity / -g; double burnStartTime = State.burnVelocity / -g;
State.simTime = (State.burntime + burnStartTime) * 1000; State.simTime = (State.burntime + burnStartTime) * 1000.0;
} }
void vehicleDynamics(Vehicle &State, Vehicle &PrevState) { void vehicleDynamics(Vehicle &State, Vehicle &PrevState) {
// Moment of Inertia // Moment of Inertia
State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) + State.I11 = State.mass * ((1 / 12.0) * pow(State.vehicleHeight, 2) +
pow(State.vehicleRadius, 2) / 4); pow(State.vehicleRadius, 2) / 4.0);
State.I22 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) + State.I22 = State.mass * ((1 / 12.0) * pow(State.vehicleHeight, 2) +
pow(State.vehicleRadius, 2) / 4); pow(State.vehicleRadius, 2) / 4.0);
State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2); State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2);
// Idot // Idot
if (State.time < 0.1) { if (State.time < 0.1) {
State.I11dot = 0; State.I11dot = 0.0;
State.I22dot = 0; State.I22dot = 0.0;
State.I33dot = 0; State.I33dot = 0.0;
State.x = 0; State.x = 0.0;
State.y = 0; State.y = 0.0;
State.ax = 0; State.ax = 0.0;
State.ay = 0; State.ay = 0.0;
State.az = State.Fz / State.massInitial; State.az = State.Fz / State.massInitial;
} else { } else {
@ -145,7 +145,6 @@ void pidController(Vehicle &State, struct Vehicle &PrevState) {
State.d_pError = derivative(State.pError, PrevState.pError, State.stepSize); State.d_pError = derivative(State.pError, PrevState.pError, State.stepSize);
// TVC block properly // TVC block properly
State.PIDx = (State.Kp * State.yError + State.Ki * State.i_yError + State.PIDx = (State.Kp * State.yError + State.Ki * State.i_yError +
State.Kd * State.d_yError) / State.Kd * State.d_yError) /
State.momentArm; State.momentArm;
@ -154,8 +153,8 @@ void pidController(Vehicle &State, struct Vehicle &PrevState) {
State.momentArm; State.momentArm;
} else { } else {
State.PIDx = 0; State.PIDx = 0.0;
State.PIDy = 0; State.PIDy = 0.0;
} }
// PID Force Limiter // PID Force Limiter
@ -166,18 +165,18 @@ void pidController(Vehicle &State, struct Vehicle &PrevState) {
void TVC(Vehicle &State, Vehicle &PrevState) { void TVC(Vehicle &State, Vehicle &PrevState) {
if (State.thrust < 0.1) { if (State.thrust < 0.1) {
// Define forces and moments for t = 0 // Define forces and moments for t = 0
State.Fx = 0; State.Fx = 0.0;
State.Fy = 0; State.Fy = 0.0;
State.Fz = g * State.massInitial; State.Fz = g * State.massInitial;
State.momentX = 0; State.momentX = 0.0;
State.momentY = 0; State.momentY = 0.0;
State.momentZ = 0; State.momentZ = 0.0;
} else { } else {
// Convert servo position to degrees for comparison to max allowable // Convert servo position to degrees for comparison to max allowable
State.xServoDegs = (180 / M_PI) * asin(State.PIDx / State.thrust); State.xServoDegs = (180.0 / M_PI) * asin(State.PIDx / State.thrust);
State.yServoDegs = (180 / M_PI) * asin(State.PIDy / State.thrust); State.yServoDegs = (180.0 / M_PI) * asin(State.PIDy / State.thrust);
// Limit Servo Position // Limit Servo Position
State.xServoDegs = limit(State.xServoDegs, State.maxServo, -State.maxServo); State.xServoDegs = limit(State.xServoDegs, State.maxServo, -State.maxServo);
@ -238,12 +237,12 @@ void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector) {
} }
double derivative(double current, double previous, double step) { double derivative(double current, double previous, double step) {
double dxdt = (current - previous) / (step / 1000); double dxdt = (current - previous) / (step / 1000.0);
return dxdt; return dxdt;
} }
double integral(double currentChange, double prevValue, double dt) { double integral(double currentChange, double prevValue, double dt) {
return (currentChange * dt / 1000) + prevValue; return (currentChange * dt / 1000.0) + prevValue;
} }
double limit(double value, double upr, double lwr) { double limit(double value, double upr, double lwr) {

49
include/teensy.h
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@ -17,11 +17,11 @@ File dataFile;
double loadCellCalibrate() { double loadCellCalibrate() {
// place code to calibrate load cells in here // place code to calibrate load cells in here
double loadTotal; double loadTotal;
for (double t = 0; t == 10; ++t) { for (double t = 0.0; t == 10.0; ++t) {
loadTotal += 1; loadTotal += 1.0;
delay(15); delay(15);
} }
return loadTotal / 10; return loadTotal / 10.0;
} }
void initFile() { void initFile() {
@ -39,7 +39,7 @@ void initFile() {
const char *fileName; const char *fileName;
if (SD.exists("simOut.csv")) { if (SD.exists("simOut.csv")) {
while (i > 0) { while (i > 0.0) {
fileName = ("simOut_" + String(i) + ".csv").c_str(); fileName = ("simOut_" + String(i) + ".csv").c_str();
if (!SD.exists(fileName)) { if (!SD.exists(fileName)) {
@ -54,7 +54,7 @@ void initFile() {
Serial.println("Error opening output file. \n\nABORTING SIMULATION"); Serial.println("Error opening output file. \n\nABORTING SIMULATION");
teensyAbort(); teensyAbort();
} }
i = 0; i = 0.0;
} else { } else {
i++; i++;
@ -87,23 +87,22 @@ void thrustInfo(Vehicle &State) {
if (State.burnElapsed != 2000) { if (State.burnElapsed != 2000) {
// determine where in the thrust curve we're at based on elapsed burn time // determine where in the thrust curve we're at based on elapsed burn time
// as well as current mass // as well as current mass
State.burnElapsed = (State.time - State.burnStart) / 1000; State.burnElapsed = (State.time - State.burnStart) / 1000.0;
State.mass = State.massInitial - (State.mdot * State.burnElapsed); State.mass = State.massInitial - (State.mdot * State.burnElapsed);
}
else if (abs(State.burnVelocity + State.vz) < 0.001) { } else if (abs(State.burnVelocity + State.vz) < 0.01) {
// Start burn // Start burn
State.burnStart = State.time; State.burnStart = State.time;
State.burnElapsed = 0; State.burnElapsed = 0;
}
else } else {
State.burnElapsed = 2000; // arbitrary number to ensure we don't burn State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
}
//Serial.println(abs(State.burnVelocity + State.vz));
if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) { if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
State.thrustFiring = true; State.thrustFiring = true;
State.thrust = 65.165 * State.burnElapsed - 2.3921; State.thrust = 65.165 * State.burnElapsed - 2.3921;
} else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383)) } else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
State.thrust = 0.8932 * pow(State.burnElapsed, 6) - State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
11.609 * pow(State.burnElapsed, 5) + 11.609 * pow(State.burnElapsed, 5) +
@ -117,25 +116,25 @@ void thrustInfo(Vehicle &State) {
if (State.burnElapsed > 3.45) { if (State.burnElapsed > 3.45) {
State.thrustFiring = false; State.thrustFiring = false;
State.thrust = 0; State.thrust = 0.0;
} }
} }
void processTVC(Vehicle &State) { void processTVC(Vehicle &State) {
if (State.time == 0) { if (State.time == 0.0) {
Serial.println("WARNING: processTVC not implemented for TEENSY"); Serial.println("WARNING: processTVC not implemented for TEENSY");
} }
// Vector math to aqcuire thrust vector components // Vector math to aqcuire thrust vector components
State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180)); State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180.0));
State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180)); State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180.0));
State.Fz = sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) + State.Fz = sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
(State.mass * g); (State.mass * g);
// Calculate moment created by Fx and Fy // Calculate moment created by Fx and Fy
State.momentX = State.Fx * State.momentArm; State.momentX = State.Fx * State.momentArm;
State.momentY = State.Fy * State.momentArm; State.momentY = State.Fy * State.momentArm;
State.momentZ = 0; State.momentZ = 0.0;
} }
void write2CSV(Vehicle &State) { void write2CSV(Vehicle &State) {
@ -163,18 +162,18 @@ void write2CSV(Vehicle &State) {
dataFile.print(State.az); dataFile.print(State.az);
dataFile.print(","); dataFile.print(",");
dataFile.print(State.yaw * 180 / M_PI); dataFile.print(State.yaw * 180.0 / M_PI);
dataFile.print(","); dataFile.print(",");
dataFile.print(State.pitch * 180 / M_PI); dataFile.print(State.pitch * 180.0 / M_PI);
dataFile.print(","); dataFile.print(",");
dataFile.print(State.roll * 180 / M_PI); dataFile.print(State.roll * 180.0 / M_PI);
dataFile.print(","); dataFile.print(",");
dataFile.print(State.yawdot * 180 / M_PI); dataFile.print(State.yawdot * 180.0 / M_PI);
dataFile.print(","); dataFile.print(",");
dataFile.print(State.pitchdot * 180 / M_PI); dataFile.print(State.pitchdot * 180.0 / M_PI);
dataFile.print(","); dataFile.print(",");
dataFile.print(State.rolldot * 180 / M_PI); dataFile.print(State.rolldot * 180.0 / M_PI);
dataFile.print(","); dataFile.print(",");
dataFile.print(State.xServoDegs); dataFile.print(State.xServoDegs);
@ -195,9 +194,9 @@ void write2CSV(Vehicle &State) {
} }
void printSimResults(Vehicle &State) { void printSimResults(Vehicle &State) {
State.yaw = State.yaw * 180 / M_PI; State.yaw = State.yaw * 180.0 / M_PI;
State.pitch = State.pitch * 180 / M_PI; State.pitch = State.pitch * 180.0 / M_PI;
State.roll = State.roll * 180 / M_PI; State.roll = State.roll * 180.0 / M_PI;
double landing_angle = double landing_angle =
pow(State.yaw * State.yaw + State.pitch * State.pitch, .5); pow(State.yaw * State.yaw + State.pitch * State.pitch, .5);

1
src/main.cpp
View File

@ -43,6 +43,7 @@ void setup() {
// Determine when to burn // Determine when to burn
burnStartTimeCalc(State); burnStartTimeCalc(State);
Serial.println(State.burnVelocity);
Serial.println("Starting Height Calculated"); Serial.println("Starting Height Calculated");
delay(1000); delay(1000);
loadCellCalibrate(); loadCellCalibrate();