diff options
Diffstat (limited to '')
| -rw-r--r-- | uav_performance_hinf.m | 45 |
1 files changed, 26 insertions, 19 deletions
diff --git a/uav_performance_hinf.m b/uav_performance_hinf.m index ba2fd3b..4a6de8a 100644 --- a/uav_performance_hinf.m +++ b/uav_performance_hinf.m @@ -19,41 +19,43 @@ function [perf] = uav_performance_hinf(params, do_plots) s = tf('s'); % Bandwitdhs -bw_alpha = .7 * params.actuators.ServoNominalAngularVelocity; -bw_omega = 8; +T_alpha = params.actuators.ServoSecondsTo60Deg; +T_omega = 0.1; -bw_xy = .1; -bw_z = .4; +T_xy = 5; +T_z = 10; -bw_xydot = .5; -bw_zdot = .1; +% Inverse performance functions +W_Palpha = make_weight(1/T_alpha, 10, 2); +W_Pomega = make_weight(1/T_omega, 10, 2); -bw_phitheta = bw_xy; -bw_psi = .08; +W_Rxy = 1 / ((s * T_xy)^2 + 2 * T_xy * .8 * s + 1); +W_Rz = 1 / (s * T_z + 1); -% Inverse performance functions -W_Palpha = .25 / (s / bw_alpha + 1); -W_Pomega = .1 / (s / bw_omega + 1); +W_Pxy = tf(5); +W_Pz = tf(1); -W_Pxy = 5 * bw_xy^2 / (s^2 + 2 * .9 * bw_xy * s + bw_xy^2); -W_Pz = bw_z^2 / (s^2 + 2 * 1 * bw_z * s + bw_z^2); +W_Pxydot = tf(.01); +W_Pzdot = tf(.01); -W_Pxydot = tf(.1); % .2 / (s / bw_xydot + 1); -W_Pzdot = tf(.1); % .5 / (s / bw_zdot + 1); - -W_Pphitheta = .01 / (s / bw_phitheta + 1); -W_Ppsi = tf(.1); % .1 / (s / bw_psi + 1); +W_Pphitheta = .001 / (s * T_xy + 1); +W_Ppsi = tf(.1); % Construct performance vector by combining xy and z +W_ref = blkdiag(W_Rxy * eye(2), W_Rz); + 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, ... + 'ReferenceFilter', W_ref, ... 'Position', W_PP, ... 'Velocity', W_PPdot, ... - 'Angles', W_PTheta); + 'Angles', W_PTheta ... +); if do_plots % Bode plots of performance requirements @@ -61,6 +63,8 @@ if do_plots bodemag(W_Palpha); bodemag(W_Pomega); + bodemag(W_Rxy); + bodemag(W_Rz); bodemag(W_Pxy); bodemag(W_Pz); bodemag(W_Pxydot); @@ -70,6 +74,7 @@ if do_plots grid on; legend('$W_{P,\alpha}$', '$W_{P,\omega}$', ... + '$W_{R,xy}$', '$W_{R,z}$', ... '$W_{P,xy}$', '$W_{P,z}$', ... '$W_{P,\dot{x}\dot{y}}$', '$W_{P,\dot{z}}$', ... '$W_{P,\phi\theta}$', '$W_{P,\psi}$', ... @@ -80,11 +85,13 @@ if do_plots % Step response of position requirements figure; hold on; step(W_Pxy); step(W_Pz); + step(W_Rxy); step(W_Rz); step(W_Pxydot); step(W_Pzdot); step(W_Palpha); step(W_Pomega); grid on; legend('$W_{P,xy}$', '$W_{P,z}$', ... + '$W_{R,xy}$', '$W_{R,z}$', ... '$W_{P,\dot{x}\dot{y}}$', '$W_{P,\dot{z}}$', ... '$W_{P,\alpha}$', '$W_{P,\omega}$', ... 'interpreter', 'latex', 'fontSize', 8); |