Anson/Lander-Simulink
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Replace simPrototypeSTART.m

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Brendan McGeeney
2021-10-14 20:52:27 +00:00
parent 8658e8465a
commit 4fb8b3c677
1 changed files with 23 additions and 9 deletions
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30
simPrototypeSTART.m
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@@ -3,14 +3,14 @@ close all; clear all; clc;
%% User Defined Values %% User Defined Values
% Initial Conditions % Initial Conditions
Kp = -8; Kp = -6.8699;
Ki = -0.25; Ki = 0;
Kd = -1.6818; Kd = -0.775;
v0 = 0; % Initial Velocity (z) [m/s] v0 = 0; % Initial Velocity (z) [m/s]
M0 = 1.2; % Initial Mass [kg] M0 = 1.2; % Initial Mass [kg]
yaw0 = 75; % Initial Yaw [deg] yaw0 = 75; % Initial Yaw [deg]
pitch0 = 0; % Initial Pitch [deg] pitch0 = 30; % Initial Pitch [deg]
roll0 = 0; % Initial Roll [deg] roll0 = 0; % Initial Roll [deg]
p0 = 0; % Initial Angular Velocity (x) [deg/s] p0 = 0; % Initial Angular Velocity (x) [deg/s]
q0 = 0; % Initial Angular Velocity (y) [deg/s] q0 = 0; % Initial Angular Velocity (y) [deg/s]
@@ -25,8 +25,8 @@ Mb = M0 - Mp; % Bu
tb = Tcurve(end, 1) - Tcurve(1, 1); % Burn Time [s] tb = Tcurve(end, 1) - Tcurve(1, 1); % Burn Time [s]
mdot = Mp / tb; % Mass Flow Rate [kg/s] mdot = Mp / tb; % Mass Flow Rate [kg/s]
D = 0; % Drag [N] D = 0; % Drag [N]
stepSize = 1/100; % Simulation Step Size [s] stepSize = 1/1000; % Simulation Step Size [s]
maxServo = 7.5; % Max Servo Rotation [deg] maxServo = 7; % Max Servo Rotation [deg]
% Moment of Inertia / Mass % Moment of Inertia / Mass
I11 = (1/12) * 0.5318^2 + 0.25 * 0.05105^2; % (1/12) * h^2 + 0.25 * r^2 I11 = (1/12) * 0.5318^2 + 0.25 * 0.05105^2; % (1/12) * h^2 + 0.25 * r^2
@@ -36,9 +36,9 @@ I = [I11 0 0; 0 I22 0; 0 0 I33]; % I
%% Pre-Sim Calcs %% Pre-Sim Calcs
%K = calcLQR(I*M0) % LQR Gain Calcs %K = calcLQR(I*M0) % LQR Gain Calcs
[h0, vb, burnStartTime] = burnStartTimeCalc(Tcurve, tb, M0, mdot, Mb, v0); % Burn Start Time Calc [h0, vb, burnStartTime] = burnStartTimeCalc(Tcurve, tb, M0, mdot, Mb, v0) % Burn Start Time Calc
h0 = 21; h0 = 21;
simTime = burnStartTime + tb; % Simulation Time [s] simTime = burnStartTime + tb % Simulation Time [s]
yaw0 = yaw0 * pi / 180; % Initial Yaw [rad] yaw0 = yaw0 * pi / 180; % Initial Yaw [rad]
pitch0 = pitch0 * pi / 180; % Initial Pitch [rad] pitch0 = pitch0 * pi / 180; % Initial Pitch [rad]
@@ -55,6 +55,20 @@ load_system(model);
simOut = sim(model); simOut = sim(model);
toc toc
%% Write to CSV
t = simOut.v.Time;
pos = simOut.h.Data;
vel = simOut.v.Data;
accel = simOut.a.Data;
ypr = simOut.YPR.Data;
yprDot = simOut.YPRdot.Data;
servo1 = [zeros(1163,1);simOut.servo1.Data];
servo2 = [zeros(1163,1);simOut.servo2.Data];
PIDx = simOut.PIDx.Data;
PIDy = simOut.PIDy.Data;
M = [t, pos, vel, accel, ypr, yprDot, servo1, servo2, PIDx, PIDy];
writematrix(M, 'out.xls');
%% Outputs %% Outputs
% figure(1) % figure(1)
% %