diff options
Diffstat (limited to '')
| -rw-r--r-- | uav_performance_musyn.m | 57 |
1 files changed, 39 insertions, 18 deletions
diff --git a/uav_performance_musyn.m b/uav_performance_musyn.m index 57237fa..5ad5fa5 100644 --- a/uav_performance_musyn.m +++ b/uav_performance_musyn.m @@ -19,32 +19,32 @@ function [perf] = uav_performance_musyn(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 = 8; +T_z = 10; -bw_xydot = .5; -bw_zdot = .1; +% Inverse performance functions -bw_phitheta = bw_xy; -bw_psi = .08; +W_Palpha = make_weight(1/T_alpha, 10, 4); +W_Pomega = make_weight(1/T_omega, 10, 2); -% Inverse performance functions -W_Palpha = .25 / (s / bw_alpha + 1); -W_Pomega = .1 / (s / bw_omega + 1); +W_Rxy = 1 / ((s * T_xy)^2 + 2 * T_xy * .8 * s + 1); +W_Rz = 1 / (s * T_z + 1); + +W_Pxy = tf(5); +W_Pz = tf(1); -W_Pxy = 2 * 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(.1); -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); @@ -52,6 +52,7 @@ 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); @@ -100,4 +101,24 @@ if do_plots 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: |