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Diffstat (limited to 'uav_performance.m')
| -rw-r--r-- | uav_performance.m | 123 |
1 files changed, 0 insertions, 123 deletions
diff --git a/uav_performance.m b/uav_performance.m deleted file mode 100644 index 4857a34..0000000 --- a/uav_performance.m +++ /dev/null @@ -1,123 +0,0 @@ -% Generate transfer functions for loop shaping performance requirements -% from parameters specified in uav_params.m -% -% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich -% This work is distributed under a permissive license, see LICENSE.txt -% -% Arguments: -% PARAMS Struct of design parameters and constants generated by uav_params -% PLOT When set to 'true' it plots the inverse magnitude of the -% performance transfer function -% -% Return value: -% PERF Struct performance transfer functions - - -function [perf] = uav_performance(params, plot) - -% Laplace variable -s = tf('s'); - -alpha_max = params.actuators.ServoAbsMaxAngle; -alpha_max_omega = params.actuators.ServoNominalAngularVelocity; - -T_xy = params.performance.HorizontalSettleTime; -T_z = params.performance.VerticalSettleTime; - -omega_nxy = 5 / T_xy; -omega_nz = 10 / T_z; - -% W_Palpha = 1 / (s^2 + 2 * alpha_max_omega * s + alpha_max_omega^2); -% W_Palpha = (1 - W_Palpha / dcgain(W_Palpha)) * .8; -% W_Pomega = (1 - 1 / (T_z / 5 * s + 1)) * .1; - -W_Palpha = make_weight(alpha_max_omega, 15, 1.1, 3); -W_Pomega = make_weight(omega_nz, 50, 10); - -% zeta = 1; % Almost critically damped -% W_Pxy = 1 / (s^2 + 2 * zeta * omega_nxy * s + omega_nxy^2); -% W_Pxy = 1 * W_Pxy / dcgain(W_Pxy); -% W_Pz = 1 / (s^2 + 2 * zeta * omega_nz * s + omega_nz^2); -% W_Pz = 1 * W_Pz / dcgain(W_Pz); - -W_Pxy = make_weight(omega_nxy, 2, 5); -W_Pz = make_weight(omega_nz, 1, 10); - -% Set a speed limit -W_Pxydot = .2 * tf(1, 1); -W_Pzdot = .2 * tf(1, 1); - -W_Pphitheta = .01 * tf(1, [.1, 1]); -W_Ppsi = .01 * tf(1, 1); % don't care - -W_PTheta = tf(1, [.1, 1]) * eye(3); - -% Construct performance vector by combining xy and z -W_PP = blkdiag(W_Pxy * eye(2), W_Pz); -W_PPdot = blkdiag(W_Pxydot * eye(2), W_Pzdot); -W_PTheta = blkdiag(W_Pphitheta * eye(2), W_Ppsi); - -perf = struct(... - 'FlapAngle', W_Palpha * eye(4), ... - 'Thrust', W_Pomega, ... - 'Position', W_PP, ... - 'Velocity', W_PPdot, ... - 'Angles', W_PTheta); - -if plot - % Bode plots of performance requirements - figure; hold on; - - bodemag(W_Palpha); - bodemag(W_Pomega); - bodemag(W_Pxy); - bodemag(W_Pz); - bodemag(W_Pxydot); - bodemag(W_Pzdot); - bodemag(W_Pphitheta); - bodemag(W_Ppsi); - - grid on; - legend('$W_{P,\alpha}$', '$W_{P,\omega}$', ... - '$W_{P,xy}$', '$W_{P,z}$', ... - '$W_{P,\dot{x}\dot{y}}$', '$W_{P,\dot{z}}$', ... - '$W_{P,\phi\theta}$', '$W_{P,\psi}$', ... - 'interpreter', 'latex', 'fontSize', 8); - title('Performance Requirements'); - - % Step response of position requirements - figure; hold on; - step(W_Pxy); step(W_Pz); - step(W_Pxydot); step(W_Pzdot); - step(W_Palpha); - step(W_Pomega); - grid on; - legend('$W_{P,xy}$', '$W_{P,z}$', ... - '$W_{P,\dot{x}\dot{y}}$', '$W_{P,\dot{z}}$', ... - '$W_{P,\alpha}$', '$W_{P,\omega}$', ... - 'interpreter', 'latex', 'fontSize', 8); - title('Step responses of performance requirements'); -end - -end - -% Make a n-order performance weight function -% -% Arguments: -% OMEGA Cutting frequency (-3dB) -% A Magnitude at DC, i.e. |Wp(0)| -% M Magnitude at infinity, i.e. |Wp(inf)| -% ORD Order -function [Wp] = make_weight(omega, A, M, ord) - -if nargin > 3 - n = ord; -else - n = 1; -end - -s = tf('s'); -Wp = (s / (M^(1/n)) + omega)^n / (s + omega * A^(1/n))^n; - -end -% vim: ts=2 sw=2 et: |