mirror of
https://gitlab.com/lander-team/lander-cpp.git
synced 2025-06-16 15:17:23 +00:00
419 lines
13 KiB
C++
419 lines
13 KiB
C++
#include "Vehicle.h"
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#include "outVector.h"
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#include <iostream>
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void burnStartTimeCalc(struct Vehicle &);
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void thrustSelection(struct Vehicle &, int t);
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void pidController(struct Vehicle &, struct Vehicle &);
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void TVC(struct Vehicle &, struct Vehicle &);
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void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t);
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void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &, int t);
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void write2CSV(struct outVector &, struct Vehicle &, int t);
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double derivative(double current, double previous, double step);
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double integral(double currentChange, double prevValue, double dt);
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double limit(double value, double upr, double lwr);
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// Any parameters that are constants should be declared here instead of
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// buried in code
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double const dt = 0.01;
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double const g = -9.81;
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bool sim(struct Vehicle &State, struct Vehicle &PrevState) {
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outVector stateVector;
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// Determine when to burn
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burnStartTimeCalc(State);
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int t = 0;
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// Start Sim
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do {
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vehicleDynamics(State, PrevState, t);
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thrustSelection(State, t);
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pidController(State, PrevState);
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TVC(State, PrevState);
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state2vec(State, PrevState, stateVector, t);
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//std::cout << State.vz << "\n";
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t += State.stepSize;
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} while ((State.z > 0.0));
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std::cout << t << "\n";
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write2CSV(stateVector, State, t);
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std::cout << t << "\n";
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bool pass = 1;
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double landing_angle =
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pow(State.yaw * State.yaw + State.pitch * State.pitch, .5);
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double landing_velocity =
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pow(State.vx * State.vx + State.vy * State.vy + State.vz * State.vz, .5);
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if (landing_angle < 5.0) {
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std::cout << " Landing Angle < 5° | PASS | ";
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} else {
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std::cout << " Landing Angle < 5° | FAIL | ";
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pass = pass * 0;
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}
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std::cout << "Final Angles: [" << State.yaw << ", " << State.pitch << "]"
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<< std::endl;
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if (landing_velocity < 5.0) {
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std::cout << "Landing Velocity < 5 m/s | PASS | ";
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} else {
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std::cout << "Landing Velocity < 5 m/s | FAIL | ";
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pass = pass * 0;
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}
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std::cout << "Final Velocity: [" << State.vx << ", " << State.vy << ", "
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<< State.vz << "]" << std::endl;
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return pass;
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}
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void burnStartTimeCalc(Vehicle &State) {
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double velocity = State.vz;
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double h = 0;
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double mass, thrust;
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// Piecewise functions for F15 thrust curve
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for (double i = 0.148; i < 3.450; i = i + dt) {
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mass = State.massInitial - i * State.mdot;
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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) -
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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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velocity = (((thrust / mass) + g) * dt) + velocity;
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h = (((thrust / mass) + g) * dt) + h;
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}
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State.z = h + (pow(velocity, 2) / (2 * -g)); // starting height
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State.burnVelocity = velocity; // terminal velocity
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double burnStartTime = State.burnVelocity / -g;
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State.simTime = (State.burntime + burnStartTime) * 1000;
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}
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void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
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// Moment of Inertia
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State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
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pow(State.vehicleRadius, 2) / 4);
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State.I22 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
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pow(State.vehicleRadius, 2) / 4);
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State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2);
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// Idot
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if (t < 0.1) {
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State.I11dot = 0;
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State.I22dot = 0;
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State.I33dot = 0;
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State.x = 0;
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State.y = 0;
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State.ax = 0;
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State.ay = 0;
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State.az = State.Fz / State.massInitial;
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} else {
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State.I11dot = derivative(State.I11, PrevState.I11, State.stepSize);
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State.I22dot = derivative(State.I22, PrevState.I22, State.stepSize);
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State.I33dot = derivative(State.I33, PrevState.I33, State.stepSize);
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// pdot, qdot, rdot
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State.yawddot = (State.momentX - State.I11dot * PrevState.yawdot +
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State.I22 * PrevState.pitchdot * PrevState.rolldot -
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State.I33 * PrevState.pitchdot * PrevState.rolldot) /
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State.I11;
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State.pitchddot = (State.momentY - State.I22dot * PrevState.pitchdot -
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State.I11 * PrevState.rolldot * PrevState.yawdot +
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State.I33 * PrevState.rolldot * PrevState.yawdot) /
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State.I22;
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State.rollddot = (State.momentZ - State.I33dot * PrevState.rolldot +
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State.I11 * PrevState.pitchdot * PrevState.yawdot -
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State.I22 * PrevState.pitchdot * PrevState.yawdot) /
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State.I33;
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// p, q, r
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State.yawdot = integral(State.yawddot, PrevState.yawdot, State.stepSize);
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State.pitchdot =
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integral(State.pitchddot, PrevState.pitchdot, State.stepSize);
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State.rolldot = integral(State.rollddot, PrevState.rolldot, State.stepSize);
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// Euler Angles
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State.phidot =
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State.yawdot + (sin(State.pitch) * (State.rolldot * cos(State.yaw) +
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State.pitchdot * sin(State.yaw))) /
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cos(State.pitch);
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State.thetadot =
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State.pitchdot * cos(State.yaw) - State.rolldot * sin(State.yaw);
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State.psidot =
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(State.rolldot * cos(State.yaw) + State.pitchdot * sin(State.yaw)) /
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cos(State.pitch);
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State.yaw = integral(State.phidot, PrevState.yaw, State.stepSize);
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State.pitch = integral(State.thetadot, PrevState.pitch, State.stepSize);
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State.roll = integral(State.psidot, PrevState.roll, State.stepSize);
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// ax ay az
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State.ax = (State.Fx / State.mass);
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State.ay = (State.Fy / State.mass);
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State.az = (State.Fz / State.mass);
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// vx vy vz in Earth frame
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State.vx = integral(State.ax, PrevState.vx, State.stepSize);
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State.vy = integral(State.ay, PrevState.vy, State.stepSize);
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State.vz = integral(State.az, PrevState.vz, State.stepSize);
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// Xe
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State.x = integral(State.vx, PrevState.x, State.stepSize);
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State.y = integral(State.vy, PrevState.y, State.stepSize);
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State.z = integral(State.vz, PrevState.z, State.stepSize);
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}
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}
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void thrustSelection(Vehicle &State, int t) {
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if (State.burnElapsed != 2000) {
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// determine where in the thrust curve we're at based on elapsed burn time
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// as well as current mass
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State.burnElapsed = (t - State.burnStart) / 1000;
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State.mass = State.massInitial - (State.mdot * State.burnElapsed);
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}
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else if (abs(State.burnVelocity + State.vz) < 0.001) {
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// Start burn
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State.burnStart = t;
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State.burnElapsed = 0;
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}
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else
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State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
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if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
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State.thrustFiring = true;
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State.thrust = 65.165 * State.burnElapsed - 2.3921;
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} else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
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State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
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11.609 * pow(State.burnElapsed, 5) +
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60.739 * pow(State.burnElapsed, 4) -
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162.99 * pow(State.burnElapsed, 3) +
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235.6 * pow(State.burnElapsed, 2) -
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174.43 * State.burnElapsed + 67.17;
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else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
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State.thrust = -195.78 * State.burnElapsed - 675.11;
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if (State.burnElapsed > 3.45) {
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State.thrustFiring = false;
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State.thrust = 0;
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}
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}
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void pidController(Vehicle &State, struct Vehicle &PrevState) {
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// Make sure we start reacting when we start burning
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if (State.thrust > 0.01) {
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State.yError = State.yaw;
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State.pError = State.pitch;
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// Integral of Error
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State.i_yError = integral(State.yError, State.i_yError, State.stepSize);
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State.i_pError = integral(State.pError, State.i_pError, State.stepSize);
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// Derivative of Error
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State.d_yError = derivative(State.yError, PrevState.yError, State.stepSize);
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State.d_pError = derivative(State.pError, PrevState.pError, State.stepSize);
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// TVC block properly
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State.PIDx = (State.Kp * State.yError + State.Ki * State.i_yError +
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State.Kd * State.d_yError) /
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State.momentArm;
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State.PIDy = (State.Kp * State.pError + State.Ki * State.i_pError +
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State.Kd * State.d_pError) /
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State.momentArm;
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} else {
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State.PIDx = 0;
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State.PIDy = 0;
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}
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// PID Force Limiter
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State.PIDx = limit(State.PIDx, State.thrust, -State.thrust);
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State.PIDy = limit(State.PIDy, State.thrust, -State.thrust);
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}
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void TVC(Vehicle &State, Vehicle &PrevState) {
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if (State.thrust < 0.1) {
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// Define forces and moments for t = 0
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State.Fx = 0;
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State.Fy = 0;
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State.Fz = g * State.massInitial;
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State.momentX = 0;
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State.momentY = 0;
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State.momentZ = 0;
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} else {
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// Convert servo position to degrees for comparison to max allowable
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State.xServoDegs = (180 / M_PI) * asin(State.PIDx / State.thrust);
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State.yServoDegs = (180 / M_PI) * asin(State.PIDy / State.thrust);
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// Limit Servo Position
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State.xServoDegs = limit(State.xServoDegs, State.maxServo, -State.maxServo);
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State.yServoDegs = limit(State.yServoDegs, State.maxServo, -State.maxServo);
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// Servo Rate
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State.xServoDegsDot =
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derivative(State.xServoDegs, PrevState.xServoDegs, State.stepSize);
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State.yServoDegsDot =
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derivative(State.yServoDegs, PrevState.yServoDegs, State.stepSize);
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// Limit Servo Rate
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State.xServoDegsDot =
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limit(State.xServoDegsDot, State.maxServoRate, -State.maxServoRate);
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State.yServoDegsDot =
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limit(State.yServoDegsDot, State.maxServoRate, -State.maxServoRate);
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// Back to Degrees
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State.xServoDegs =
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integral(State.xServoDegsDot, PrevState.xServoDegs, State.stepSize);
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State.yServoDegs =
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integral(State.yServoDegsDot, PrevState.yServoDegs, State.stepSize);
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// Vector math to aqcuire thrust vector components
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State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
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State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
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State.Fz =
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sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
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(State.mass * g);
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// Calculate moment created by Fx and Fy
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State.momentX = State.Fx * State.momentArm;
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State.momentY = State.Fy * State.momentArm;
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State.momentZ = 0;
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}
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}
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void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector,
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int t) {
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stateVector.x[t] = State.x;
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stateVector.y[t] = State.y;
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stateVector.z[t] = State.z;
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stateVector.vx[t] = State.vx;
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stateVector.vy[t] = State.vy;
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stateVector.vz[t] = State.vz;
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stateVector.ax[t] = State.ax;
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stateVector.ay[t] = State.ay;
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stateVector.az[t] = State.az;
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stateVector.yaw[t] = State.yaw;
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stateVector.pitch[t] = State.pitch;
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stateVector.roll[t] = State.roll;
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stateVector.yawdot[t] = State.yawdot;
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stateVector.pitchdot[t] = State.pitchdot;
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stateVector.rolldot[t] = State.rolldot;
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stateVector.servo1[t] = State.xServoDegs;
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stateVector.servo2[t] = State.yServoDegs;
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stateVector.thrustFiring[t] = State.thrustFiring;
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stateVector.PIDx[t] = State.PIDx;
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stateVector.PIDy[t] = State.PIDy;
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stateVector.thrust[t] = State.thrust;
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// Set "prev" values for next timestep
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PrevState = State;
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}
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void write2CSV(outVector &stateVector, Vehicle &State, int t) {
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// Deleting any previous output file
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if (remove("simOut.csv") != 0)
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perror("No file deletion necessary");
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else
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puts("Previous output file successfully deleted");
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// Define and open output file "simOut.csv"
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std::fstream outfile;
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outfile.open("simOut.csv", std::ios::app);
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// Output file header. These are the variables that we output - useful for
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// debugging
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outfile << "t,x,y,z,vx,vy,vz,ax,ay,az,yaw,pitch,roll,yawdot,pitchdot,rolldot,"
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"Servo1,Servo2,thrustFiring,PIDx,PIDy,thrust"
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<< std::endl;
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// writing to output file
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for (int i = 0; i < t; i += State.stepSize) {
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outfile << i << ", ";
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outfile << stateVector.x[i] << ",";
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outfile << stateVector.y[i] << ",";
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outfile << stateVector.z[i] << ",";
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outfile << stateVector.vx[i] << ",";
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outfile << stateVector.vy[i] << ",";
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outfile << stateVector.vz[i] << ",";
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outfile << stateVector.ax[i] << ",";
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outfile << stateVector.ay[i] << ",";
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outfile << stateVector.az[i] << ",";
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outfile << stateVector.yaw[i] * 180 / M_PI << ",";
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outfile << stateVector.pitch[i] * 180 / M_PI << ",";
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outfile << stateVector.roll[i] * 180 / M_PI << ",";
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outfile << stateVector.yawdot[i] * 180 / M_PI << ",";
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outfile << stateVector.pitchdot[i] * 180 / M_PI << ",";
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outfile << stateVector.rolldot[i] * 180 / M_PI << ",";
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outfile << stateVector.servo1[i] << ",";
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outfile << stateVector.servo2[i] << ",";
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outfile << stateVector.thrustFiring[i] << ",";
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outfile << stateVector.PIDx[i] << ",";
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outfile << stateVector.PIDy[i] << ",";
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outfile << stateVector.thrust[i] << std::endl;
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}
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outfile.close();
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std::cout << "simOut.csv created successfully.\n" << std::endl;
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}
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double derivative(double current, double previous, double step) {
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double dxdt = (current - previous) / (step / 1000);
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return dxdt;
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}
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double integral(double currentChange, double prevValue, double dt) {
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return (currentChange * dt / 1000) + prevValue;
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}
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double limit(double value, double upr, double lwr) {
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if (value > upr)
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value = upr;
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else if (value < lwr)
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value = lwr;
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else
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value = value;
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return value;
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} |