diff options
| -rw-r--r-- | uav.m | 18 | ||||
| -rw-r--r-- | uav_model.m | 5 | ||||
| -rw-r--r-- | uav_model_uncertain.slx | bin | 65416 -> 62438 bytes | |||
| -rw-r--r-- | uav_model_uncertain_clp.slx | bin | 77006 -> 73551 bytes | |||
| -rw-r--r-- | uav_params.m | 4 | ||||
| -rw-r--r-- | uav_sim_step.m | 17 |
6 files changed, 21 insertions, 23 deletions
@@ -9,7 +9,7 @@ clear; clc; close all; s = tf('s'); do_plots = true; % runs faster without -do_hinf = false; +do_hinf = true; do_musyn = true; fprintf('Controller synthesis for ducted fan VTOL micro-UAV\n') @@ -80,7 +80,7 @@ if do_hinf ); ctrl.hinf = struct( ... - 'Name', '$\mathcal{H}_{\infty}$', ... + 'Name', 'Nominal $\mathcal{H}_{\infty}$', ... 'K', K_inf, ... 'index', index ... ); @@ -142,7 +142,7 @@ drawnow; if do_musyn fprintf('Generating system model for mu-synthesis design...\n'); - model = uav_model(params, perf_musyn, uncert); + model = uav_model(params, perf_hinf, uncert); fprintf('Performing mu-synthesis controller design...\n') @@ -175,7 +175,7 @@ if do_musyn d_scales_max_degree = 5; d_scales_max_err = 15; d_scales_max_err_p = .05; % in percentage - d_scales_improvement_p = .25; % in percentage, avoid diminishing returns + d_scales_improvement_p = .1; % in percentage, avoid diminishing returns % Limit order of scaled plant scaled_plant_reduce_ord = 100; @@ -208,7 +208,7 @@ if do_musyn % according to parameters given above d_scales_degrees = { 0, 0, 0, 0, 0, inf, inf; % alpha - 5, 1, inf, inf, inf, inf, inf; % omega + 3, inf, inf, inf, inf, inf, inf; % omega 0, 0, 0, 0, 0, inf, inf; % state 0, 0, 0, 0, 0, inf, inf; % perf }; @@ -346,10 +346,6 @@ if do_musyn error('Failed to synethesize H-infinity controller'); end - if it == 1 - K_hinf = K; - end - % Calculate frequency response of closed loop N = minreal(lft(P, K), [], false); M = minreal(N(idx.OutputUncertain, idx.InputUncertain), [], false); @@ -623,8 +619,6 @@ if do_musyn Delta = Delta / norm(Delta, inf); % Save controllers - ctrl.hinf = struct('Name', '$\mathcal{H}_{\infty}$', 'K', K_hinf); - ctrl.musyn = struct('Name', '$\mu$-Synthesis', ... 'K', K, 'Delta', Delta, ... 'mu_rp', mu_rp, 'mu_rs', mu_rs); @@ -696,6 +690,6 @@ if do_musyn uncert.Delta = ctrl.musyn.Delta; simout = uav_sim_step(params, model, ctrl.musyn, uncert, nsamples, T, do_plots, do_noise); - simout = uav_sim_step(params, model, ctrl.hinf, uncert, nsamples, 5, do_plots, do_noise); + simout = uav_sim_step(params, model, ctrl.hinf, uncert, nsamples, T, do_plots, do_noise); uncert = rmfield(uncert, 'Delta'); end diff --git a/uav_model.m b/uav_model.m index af0be20..c2d588d 100644 --- a/uav_model.m +++ b/uav_model.m @@ -9,8 +9,7 @@ % principles (equations of motion). % % * A linear model obtained by linearizing the the non linear plant model at -% an operating point specified in the params struct argument. And adding -% models for the actuators. +% an operating point specified in the params struct argument. % % * A uncertain linear model with reference trcking built atop of the linear % model using SIMULINK. The uncertain model contains the performance and @@ -276,7 +275,7 @@ sys = pade(ss(A, B, C, D, 'OutputDelay', T), n); % sys = ss(A, B, C, D); % Add actuators -sys = sys * model.actuators.StateSpace; +% sys = sys * model.actuators.StateSpace; % Remove unnecessary states sys = minreal(sys, [], false); % slient diff --git a/uav_model_uncertain.slx b/uav_model_uncertain.slx Binary files differindex 4d6074a..28fea4a 100644 --- a/uav_model_uncertain.slx +++ b/uav_model_uncertain.slx diff --git a/uav_model_uncertain_clp.slx b/uav_model_uncertain_clp.slx Binary files differindex 46ee9d2..949b2e2 100644 --- a/uav_model_uncertain_clp.slx +++ b/uav_model_uncertain_clp.slx diff --git a/uav_params.m b/uav_params.m index 8963b02..8c73ae9 100644 --- a/uav_params.m +++ b/uav_params.m @@ -88,13 +88,13 @@ k_T = F_max / omega_max^2; % https://scienceworld.wolfram.com/physics/LiftCoefficient.html params.aerodynamics = struct(... 'ThrustOmegaProp', k_T, ... % in s^2 / (rad * N) - 'ThrustOmegaPropUncertainty', .05, ... % in % + 'ThrustOmegaPropUncertainty', .01, ... % in % 'FlapArea', 23e-3 * 10e-3, ... % in m^2 'FlapAreaUncertainty', .1, ... % in % 'DragCoefficients', [0, 0], ... % TODO 'DragCoefficientsUncertainties', [.0, .0], ... % in % 'LiftCoefficient', 2 * pi, ... % TODO - 'LiftCoefficientUncertainty', .05 ...% in % + 'LiftCoefficientUncertainty', .01 ...% in % ); diff --git a/uav_sim_step.m b/uav_sim_step.m index 7bf0f2b..d7facbf 100644 --- a/uav_sim_step.m +++ b/uav_sim_step.m @@ -146,11 +146,16 @@ if do_plots to_deg = 180 / pi; % radians to degrees to_rpm = pi / 30; % rad / s to RPM + delta = ''; + if isfield(uncert, 'Delta') + delta = 'with $\Delta$'; + end + % Figure for flaps and Euler angles figure; sgtitle(sprintf(... - '\\bfseries Step Response of Flap and Euler Angles (%s)', ... - ctrl.Name), 'Interpreter', 'latex'); + '\\bfseries Step Response of Flap and Euler Angles (%s) %s', ... + ctrl.Name, delta), 'Interpreter', 'latex'); % Plot limits alpha_max_deg = params.actuators.ServoAbsMaxAngle * to_deg; @@ -256,8 +261,8 @@ if do_plots % Plot step response from z to omega figure; sgtitle(sprintf(... - '\\bfseries Step Response to Propeller (%s)', ... - ctrl.Name), 'Interpreter', 'latex'); + '\\bfseries Step Response to Propeller (%s) %s', ... + ctrl.Name, delta), 'Interpreter', 'latex'); hold on; step(P_clp(idx.PlotOmega, idx.InputReference(3)) * to_rpm, T); @@ -273,8 +278,8 @@ if do_plots % Figure for position and velocity figure; sgtitle(sprintf(... - '\\bfseries Step Response of Position and Speed (%s)', ... - ctrl.Name), 'Interpreter', 'latex'); + '\\bfseries Step Response of Position and Speed (%s) %s', ... + ctrl.Name, delta), 'Interpreter', 'latex'); % Plot step response from horizontal reference to horizontal position subplot(2, 2, 1); hold on; |