diff options
Diffstat (limited to 'uav_model.m')
| -rw-r--r-- | uav_model.m | 95 |
1 files changed, 92 insertions, 3 deletions
diff --git a/uav_model.m b/uav_model.m index ce7cddb..747f1b7 100644 --- a/uav_model.m +++ b/uav_model.m @@ -1,6 +1,30 @@ -% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich +% Compute models for Ducted Fan VTOL micro-UAV for given set of parameters. % -% Compute model for UAV for given set of parameters. +% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich. +% This function generates three models: +% +% * A non-linear symbolic model (cannot be used directly). +% * A linear model obtained by linearizing the the non linear model at an +% operating point specified in the params struct argument. +% * A uncertain linear model built atop of the linear model using SIMULINK. +% The uncertain model contains the performance and weighting transfer +% function given in the arguments perf and params, and is stored in the +% SIMULINK fil euav_model_uncertain.xls. +% +% [MODEL] = UAV_MODEL(PARAMS, PERF, UNCERT) +% +% Arguments: +% PARAMS Struct of design parameters and constants generated from uav_params +% PERF Struct with transfer functions that describe performance +% requirements (used for uncertain model). +% UNCERT Struct with weighting transfer functions for the uncertainty +% blocks (used for uncertain model). +% +% Return value: +% MODEL Struct with models +% +% See also UAV_PARAMS + function [model] = uav_model(params, perf, uncert) @@ -210,6 +234,7 @@ model.linear = struct(... % ------------------------------------------------------------------------ % Check properties of linearized model + eigvals = eig(A); % Check system controllability / stabilizability @@ -269,6 +294,7 @@ end h = load_system('uav_model_uncertain'); hws = get_param('uav_model_uncertain', 'modelworkspace'); +hws.assignin('params', params); hws.assignin('model', model); hws.assignin('perf', perf); hws.assignin('uncert', uncert); @@ -279,9 +305,72 @@ usys = ss(ulmod.a, ulmod.b, ulmod.c, ulmod.d); % Save uncertain model model.uncertain = struct(... - 'Simulink', ulmod, ... + 'Simulink', ulmod, ... 'StateSpace', usys ... ); +% The uncertain system is partitioned into the following matrix +% +% [ z ] [ A B_w B_u ] [ v ] +% [ e ] = [ C_e D_ew D_eu ] [ w ] +% [ y ] [ C_y D_yw D_yu ] [ u ] +% +% Struct below provides indices for inputs and outputs of partitioning. +% Check for correctness of these values by inspecting: +% +% - model.uncertain.Simulink.InputName(model.uncertain.index.InputX) +% - model.uncertain.Simulink.OutputName(model.uncertain.index.OutputX) +% +% Function make_idx(start, size) is defined below. +model.uncertain.index = struct(... + 'InputUncertain', make_idx( 1, 17), ... % 'v' inputs + 'InputDisturbance', make_idx(18, 12), ... % 'w' inputs for noise + 'InputReference', make_idx(30, 12), ... % 'w' inputs for reference + 'InputNominal', make_idx(42, 5), ... % 'u' inputs + 'OutputUncertain', make_idx( 1, 17), ... % 'z' outputs + 'OutputError', make_idx(18, 17), ... % 'e' outputs + 'OutputNominal', make_idx(35, 12) ... % 'y' outputs +); + +% ------------------------------------------------------------------------ +% Check properties of uncertain model + +% % Check that (A, B_u, C_y) is stabilizable and detectable +% A = model.uncertain.StateSpace(... +% model.uncertain.index.OutputUncertain, ... +% model.uncertain.index.InputUncertain ... +% ); +% +% B_u = model.uncertain.StateSpace(... +% model.uncertain.index.OutputUncertain, ... +% model.uncertain.index.InputNominal ... +% ); +% +% % TODO: do PBH test +% +% % Check that D_eu and D_yw are full rank +% D_eu = model.uncertain.StateSpace(... +% model.uncertain.index.OutputError, ... +% model.uncertain.index.InputNominal ... +% ); +% +% D_yw = model.uncertain.StateSpace(... +% model.uncertain.index.OutputNominal, ... +% model.uncertain.index.InputDisturbance ... +% ); + +% if rank(D_eu) < min(size(D_eu)) +% fprintf('D_eu is not full rank!\n') +% end +% +% if rank(D_yw) < min(size(D_yw)) +% fprintf('D_yw is not full rank!\n') +% end + +end + +function [indices] = make_idx(start, size) + indices = [start:(start + size - 1)]'; end + % vim: ts=2 sw=2 et: |