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implemented improved thrust curve
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bpmcgeeney
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e83923c876
commit
c5d5260c6c
22
.vscode/c_cpp_properties.json
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22
.vscode/c_cpp_properties.json
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{
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"configurations": [
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{
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"name": "Win32",
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"includePath": [
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"${workspaceFolder}/**",
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"${workspaceFolder}/include"
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],
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"defines": [
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"_DEBUG",
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"UNICODE",
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"_UNICODE"
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],
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"windowsSdkVersion": "10.0.18362.0",
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"compilerPath": "C:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\Community\\VC\\Tools\\MSVC\\14.25.28610\\bin\\Hostx64\\x64\\cl.exe",
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"cStandard": "c17",
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"cppStandard": "c++17",
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"intelliSenseMode": "windows-msvc-x64"
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}
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],
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"version": 4
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}
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@ -59,18 +59,26 @@ figure(2)
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% Euler Angles
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subplot(2, 1, 1)
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plot(t, yaw, pitch, roll)
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hold on;
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plot(t, yaw)
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plot(t, pitch)
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plot(t, roll)
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title('Euler Angles vs Time')
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xlabel('Time (ms)')
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ylabel('Euler Angles (deg)')
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legend("yaw", "pitch", "roll")
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% Angular Velocity
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subplot(2, 1, 2)
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plot(t, yawdot, pitchdot, rolldot)
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hold on;
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plot(t, yawdot)
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plot(t, pitchdot)
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plot(t, rolldot)
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title('Angular Velocity vs Time')
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xlabel('Time (ms)')
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ylabel('Angular Velocity (deg/s)')
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saveas(gcf,'outputs/Euler Angles vs Time.png')
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legend("yawdot", "pitchdot", "rolldot")
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figure(3)
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@ -38,33 +38,6 @@ struct sVars
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double simTime;
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int stepSize;
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std::array<std::array<double, 2>, 26> thrustCurve = {{{0.148, 7.638},
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{0.228, 12.253},
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{0.294, 16.391},
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{0.353, 20.210},
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{0.382, 22.756},
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{0.419, 25.260},
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{0.477, 23.074},
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{0.520, 20.845},
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{0.593, 19.093},
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{0.688, 17.500},
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{0.855, 16.225},
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{1.037, 15.427},
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{1.205, 14.948},
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{1.423, 14.627},
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{1.452, 15.741},
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{1.503, 14.785},
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{1.736, 14.623},
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{1.955, 14.303},
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{2.210, 14.141},
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{2.494, 13.819},
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{2.763, 13.338},
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{3.120, 13.334},
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{3.382, 13.013},
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{3.404, 9.352},
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{3.418, 4.895},
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{3.450, 0.000}}};
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};
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#endif
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10
src/main.cpp
10
src/main.cpp
@ -14,7 +14,7 @@ int main()
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Vars.vz = 0; // [m/s]
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// Initial YPR
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Vars.yaw = 15 * 3.1416 / 180; // [rad]
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Vars.yaw = 0 * 3.1416 / 180; // [rad]
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Vars.pitch = 0 * 3.1416 / 180; // [rad]
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Vars.roll = 0 * 3.1416 / 180; // [rad]
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@ -36,10 +36,10 @@ int main()
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Vars.stepSize = 1; // [ms]
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// Other Properties
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Vars.mp = 0.06; // [kg]
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Vars.mb = Vars.m0 - Vars.mp; // [kg]
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Vars.tb = Vars.thrustCurve[25][0] - Vars.thrustCurve[0][0]; // [s]
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Vars.mdot = Vars.mp / Vars.tb; // [kg/s]
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Vars.mp = 0.06; // [kg]
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Vars.mb = Vars.m0 - Vars.mp; // [kg]
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Vars.tb = 3.45 - 0.148; // [s]
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Vars.mdot = Vars.mp / Vars.tb; // [kg/s]
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sim(Vars);
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70
src/sim.cpp
70
src/sim.cpp
@ -47,38 +47,30 @@ void sim(struct sVars &Vars)
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void burnStartTimeCalc(struct sVars &Vars, double g)
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{
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double v_prev = Vars.vz;
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double h_prev = 0;
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double dt, a, v, h;
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double v = Vars.vz;
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double h = 0;
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double dt = 0.001;
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double a, j, m, thrust;
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for (int i = 0; i < 25; i++)
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for (double i = 0.148; i < 3.450; i = i + dt)
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{
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// Integral of thrust curve
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if (i < 25)
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{
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dt = Vars.thrustCurve[i + 1][0] - Vars.thrustCurve[i][0];
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a = (Vars.thrustCurve[i][1] /
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(Vars.m0 - Vars.mdot * Vars.thrustCurve[i + 1][0]) +
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g);
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}
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else
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{
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dt = 0;
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a = (Vars.thrustCurve[i][1] / Vars.mb) + g;
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}
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m = Vars.m0 - i * Vars.mdot;
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v = a * dt + v_prev;
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v_prev = v;
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h = v * dt + h_prev;
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h_prev = h;
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if ((i > 0.147) & (i < 0.420))
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thrust = 65.165 * i - 2.3921;
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else if ((i > 0.419) & (i < 3.383))
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thrust = 0.8932 * pow(i, 6) - 11.609 * pow(i, 5) + 60.739 * pow(i, 4) - 162.99 * pow(i, 3) + 235.6 * pow(i, 2) - 174.43 * i + 67.17;
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else if ((i > 3.382) & (i < 3.46))
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thrust = -195.78 * i + 675.11;
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v = (((thrust / m) + g) * dt) + v;
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h = v * dt + h;
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}
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double hb = h; // height that we want to start our burn at
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double hf =
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(v * v) / (2 * -g); // amount of height that we need to be in freefall in
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// order to reach terminal velocity
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Vars.z = hb + hf; // starting height
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Vars.vb = v; // terminal velocity
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Vars.z = h + (pow(v, 2) / (2 * -g)); // starting height
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Vars.vb = v; // terminal velocity
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double burnStartTime = Vars.vb / -g;
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Vars.simTime = (Vars.tb + burnStartTime) * 1000;
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@ -110,26 +102,14 @@ void thrustSelection(struct sVars &Vars, int t)
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else
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Vars.burnElapsed = 2000; // arbitrary number to ensure we don't burn
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bool b_thrustSelect;
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if ((Vars.burnElapsed > 0.147) & (Vars.burnElapsed < 0.420))
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Vars.thrust = 65.165 * Vars.burnElapsed - 2.3921;
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for (int i = 0; i < 25; i++)
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{
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// Compare elapsed burn time to each time entry in the thrust curve
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b_thrustSelect = (Vars.burnElapsed < (1 + tol) * Vars.thrustCurve[i][0]) &
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(Vars.burnElapsed > (1 - tol) * Vars.thrustCurve[i][0]);
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else if ((Vars.burnElapsed > 0.419) & (Vars.burnElapsed < 3.383))
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Vars.thrust = 0.8932 * pow(Vars.burnElapsed, 6) - 11.609 * pow(Vars.burnElapsed, 5) + 60.739 * pow(Vars.burnElapsed, 4) - 162.99 * pow(Vars.burnElapsed, 3) + 235.6 * pow(Vars.burnElapsed, 2) - 174.43 * Vars.burnElapsed + 67.17;
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if (b_thrustSelect)
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{
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// Choose thrust associated with time entry that elapsed burn time was
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// compared to above
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Vars.thrust = Vars.thrustCurve[i][1];
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Vars.thrust_prev = Vars.thrustCurve[i][1];
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}
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else
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// latch
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Vars.thrust = Vars.thrust_prev;
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}
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else if ((Vars.burnElapsed > 3.382) & (Vars.burnElapsed < 3.46))
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Vars.thrust = -195.78 * Vars.burnElapsed + 675.11;
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}
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void lqrCalc(struct sVars &Vars)
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