Anson/Lander-Simulink
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PID implementation

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This commit is contained in:
Brendan McGeeney
2021-09-19 02:59:22 +00:00
parent 6d4cc2bbdb
commit c24f6d0fd7
1 changed files with 106 additions and 102 deletions
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208
simPrototypeSTART.m
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@@ -3,10 +3,14 @@ close all; clear all; clc;
%% User Defined Values
% Initial Conditions
Kp = -2^3;
Ki = -2^-2;
Kd = -2^0.75;
v0 = 0; % Initial Velocity (z) [m/s]
M0 = 1.2; % Initial Mass [kg]
yaw0 = 5; % Initial Yaw [deg]
pitch0 = 15; % Initial Pitch [deg]
yaw0 = 75; % Initial Yaw [deg]
pitch0 = 50; % Initial Pitch [deg]
roll0 = 0; % Initial Roll [deg]
p0 = 0; % Initial Angular Velocity (x) [deg/s]
q0 = 0; % Initial Angular Velocity (y) [deg/s]
@@ -31,8 +35,8 @@ I33 = 0.5 * 0.05105^2; % 0.
I = [I11 0 0; 0 I22 0; 0 0 I33]; % I divided by Mass... this is taken care of in Simulink since our mass isn't constant
%% Pre-Sim Calcs
K = calcLQR(I*M0) % LQR Gain Calcs
[h0, vb, burnStartTime] = burnStartTimeCalc(Tcurve, tb, M0, mdot, Mb, v0) % Burn Start Time Calc
%K = calcLQR(I*M0) % LQR Gain Calcs
[h0, vb, burnStartTime] = burnStartTimeCalc(Tcurve, tb, M0, mdot, Mb, v0); % Burn Start Time Calc
h0 = 21;
simTime = burnStartTime + tb; % Simulation Time [s]
@@ -52,104 +56,104 @@ simOut = sim(model);
toc
%% Outputs
figure(1)
% Acceleration
subplot(3, 1, 1)
plot(simOut.a.Data(:, 3))
title('Acceleration vs Time')
xlabel('Time (s)')
ylabel('Acceleration (g''s)')
% Velocity
subplot(3, 1, 2)
plot(simOut.v.Data(:, 3))
title('Velocity vs Time')
xlabel('Time (s)')
ylabel('Velocity (m/s)')
% Altitude
subplot(3, 1, 3)
plot(simOut.h.Time, simOut.h.Data(:,3))
title('Altitude vs Time')
xlabel('Time (s)')
ylabel('Altitude (m)')
ylim([0 h0+5])
saveas(gcf,'outputs/Accel-Vel-Alt vs Time.png')
figure(2)
% Euler Angles
subplot(2, 1, 1)
plot(simOut.YPR.Data)
title('Euler Angles vs Time')
xlabel('Time (ms)')
ylabel('Euler Angles (deg)')
legend('Yaw', 'Pitch', 'Roll')
% Angular Velocity
subplot(2, 1, 2)
plot(simOut.YPRdot.Data)
title('Angular Velocity vs Time')
xlabel('Time (ms)')
ylabel('Angular Velocity (deg/s)')
legend('X', 'Y', 'Z')
saveas(gcf,'outputs/Euler Angles vs Time.png')
figure(3)
% Servo 1 Position
subplot(2, 1, 1)
plot(simOut.servo1.Data)
title('Servo 1 Position vs Time')
xlabel('Time (ms)')
ylabel('Servo 1 Position (rad)')
% Servo 2 Position
subplot(2, 1, 2)
plot(simOut.servo2.Data)
title('Servo 2 Position vs Time')
xlabel('Time (ms)')
ylabel('Servo 2 Position (rad)')
saveas(gcf,'outputs/Servo Position vs Time.png')
% figure(1)
%
% % Acceleration
% subplot(3, 1, 1)
% plot(simOut.a.Data(:, 3))
% title('Acceleration vs Time')
% xlabel('Time (s)')
% ylabel('Acceleration (g''s)')
%
% % Velocity
% subplot(3, 1, 2)
% plot(simOut.v.Data(:, 3))
% title('Velocity vs Time')
% xlabel('Time (s)')
% ylabel('Velocity (m/s)')
%
% % Altitude
% subplot(3, 1, 3)
% plot(simOut.h.Time, simOut.h.Data(:,3))
% title('Altitude vs Time')
% xlabel('Time (s)')
% ylabel('Altitude (m)')
% ylim([0 h0+5])
% saveas(gcf,'outputs/Accel-Vel-Alt vs Time.png')
%
% figure(2)
%
% % Euler Angles
% subplot(2, 1, 1)
% plot(simOut.YPR.Data)
% title('Euler Angles vs Time')
% xlabel('Time (ms)')
% ylabel('Euler Angles (deg)')
% legend('Yaw', 'Pitch', 'Roll')
%
% % Angular Velocity
% subplot(2, 1, 2)
% plot(simOut.YPRdot.Data)
% title('Angular Velocity vs Time')
% xlabel('Time (ms)')
% ylabel('Angular Velocity (deg/s)')
% legend('X', 'Y', 'Z')
% saveas(gcf,'outputs/Euler Angles vs Time.png')
%
% figure(3)
%
% % Servo 1 Position
% subplot(2, 1, 1)
% plot(simOut.servo1.Data)
% title('Servo 1 Position vs Time')
% xlabel('Time (ms)')
% ylabel('Servo 1 Position (rad)')
%
% % Servo 2 Position
% subplot(2, 1, 2)
% plot(simOut.servo2.Data)
% title('Servo 2 Position vs Time')
% xlabel('Time (ms)')
% ylabel('Servo 2 Position (rad)')
% saveas(gcf,'outputs/Servo Position vs Time.png')
% Animation
h = figure(4);
K = animatedline('Marker', 'o');
axis([-10, 10, 0, h0])
xlabel('X-Position (m)')
ylabel('Altitude (m)')
title('Altitude')
grid on
% h = figure(4);
% K = animatedline('Marker', 'o');
% axis([-10, 10, 0, h0])
% xlabel('X-Position (m)')
% ylabel('Altitude (m)')
% title('Altitude')
% grid on
for i = 1 : length(simOut.h.Data)
clearpoints(K);
addpoints(K, simOut.h.Data(i, 1), simOut.h.Data(i, 3));
title(sprintf('Altitude at T = %f', simOut.h.Time(i)))
drawnow limitrate
% Write Animation to gif, set to zero when testing since its slow to render.
outframes = 0; % 50 is a nice default
if outframes
% Write to the GIF File
if i == 1
% Capture the plot as an image
frame = getframe(h);
im = frame2im(frame);
[imind,cm] = rgb2ind(im,256);
%initalize plot
imwrite(imind,cm,'outputs/Altitude.gif','gif', 'Loopcount',inf);
elseif mod(i,floor(length(simOut.h.Data)/outframes)) == 0
% Capture the plot as an image
frame = getframe(h);
im = frame2im(frame);
[imind,cm] = rgb2ind(im,256);
% Append to plot
imwrite(imind,cm,'outputs/Altitude.gif','gif','WriteMode','append', 'DelayTime', .2);
end
end
end
% for i = 1 : length(simOut.h.Data)
% clearpoints(K);
% addpoints(K, simOut.h.Data(i, 1), simOut.h.Data(i, 3));
% title(sprintf('Altitude at T = %f', simOut.h.Time(i)))
% drawnow limitrate
%
% % Write Animation to gif, set to zero when testing since its slow to render.
% outframes = 0; % 50 is a nice default
% if outframes
% % Write to the GIF File
% if i == 1
%
% % Capture the plot as an image
% frame = getframe(h);
% im = frame2im(frame);
% [imind,cm] = rgb2ind(im,256);
%
% %initalize plot
% imwrite(imind,cm,'outputs/Altitude.gif','gif', 'Loopcount',inf);
%
% elseif mod(i,floor(length(simOut.h.Data)/outframes)) == 0
% % Capture the plot as an image
% frame = getframe(h);
% im = frame2im(frame);
% [imind,cm] = rgb2ind(im,256);
%
% % Append to plot
% imwrite(imind,cm,'outputs/Altitude.gif','gif','WriteMode','append', 'DelayTime', .2);
% end
% end
% end