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Diffstat (limited to 'uav_sim_step_hinf.m')
| -rw-r--r-- | uav_sim_step_hinf.m | 282 |
1 files changed, 282 insertions, 0 deletions
diff --git a/uav_sim_step_hinf.m b/uav_sim_step_hinf.m new file mode 100644 index 0000000..71510b8 --- /dev/null +++ b/uav_sim_step_hinf.m @@ -0,0 +1,282 @@ +% Simulate a step responses of ducted-fan VTOL micro-UAV. +% +% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich +% This work is distributed under a permissive license, see LICENSE.txt + +function [simout] = uav_sim_step_hinf(params, model, ctrl, nsamp, do_plots, do_noise) + +% Load closed loop model and add controller +% more or less equivalent to doing usys = lft(Pnom, K) +h = load_system('uav_model_uncertain_clp'); +hws = get_param('uav_model_uncertain_clp', 'modelworkspace'); +hws.assignin('K', ctrl.K); + +ulmod_clp = linmod('uav_model_uncertain_clp'); +usys_clp = ss(ulmod_clp.a, ulmod_clp.b, ulmod_clp.c, ulmod_clp.d); + +% Take dynamics without uncertainty +% Also nominal ouput to make plots +P_nom_clp = minreal(usys_clp(... + [model.uncertain.index.OutputError; + model.uncertain.index.OutputNominal; + model.uncertain.index.OutputPlots], ... + model.uncertain.index.InputExogenous)); + +% Indices for exogenous inputs +Iwwind = (1:3)'; +Iwalpha = (4:7)'; +Ir = (8:10)'; + +% Indices for outputs +Iealpha = (1:4)'; +Ieomega = 5; +IeP = (6:8)'; +IePdot = (9:11)'; +IeTheta = (12:14)'; +% size([Iealpha; Ieomega; IeP; IePdot; IeTheta]) + +% Indices for y outputs (for plots) +IP = (15:17)'; +IPdot = (18:20)'; +ITheta = (21:23)'; +IOmega = (24:26)'; + +% Indices for p outputs (for plots) +Ialpha = (27:30)'; +Iomega = 31; + +Iualpha = (32:35)'; +Iuomega = 36; + +noise = zeros(7, nsamp); % no noise +if do_noise + % Noise in percentage + noise_alpha_amp = (.5 * (pi / 180)) / params.actuators.ServoAbsMaxAngle; + noise_wind_amp = .1; + noise = [noise_wind_amp * randn(3, nsamp); + noise_alpha_amp * randn(4, nsamp)]; +end + +% Create step inputs (normalized) +ref_step = ones(1, nsamp); % 1d step function + +in_step_x = [ noise; ref_step; zeros(2, nsamp) ]; +in_step_y = [ noise; zeros(1, nsamp); ref_step; zeros(1, nsamp) ]; +in_step_z = [ noise; zeros(2, nsamp); ref_step ]; + +% Simulation time +n_settle_times = 10; +T_final_horiz = n_settle_times * params.performance.HorizontalSettleTime; +T_final_vert = n_settle_times * params.performance.VerticalSettleTime; + +t_xy = linspace(0, T_final_horiz, nsamp); +t_z = linspace(0, T_final_vert, nsamp); + +% Simulate step responses +out_step_x = lsim(P_nom_clp, in_step_x, t_xy); +out_step_y = lsim(P_nom_clp, in_step_y, t_xy); +out_step_z = lsim(P_nom_clp, in_step_z, t_z); + +% Return simulation +simout = struct(... + 'TimeXY', t_xy, ... + 'StepX', out_step_x, ... + 'StepY', out_step_y, ... + 'Simulink', ulmod_clp, ... + 'StateSpace', P_nom_clp); + +simout.index = struct(... + 'ErrorFlapAngles', Iealpha, ... + 'ErrorThrust', Ieomega , ... + 'ErrorPos', IeP, ... + 'ErrorVel', IePdot, ... + 'ErrorAngles', IeTheta, ... + 'Position', IP, ... + 'Velocity', IPdot, ... + 'Angles', ITheta, ... + 'FlapAngles', Ialpha, ... + 'Thruster', Iomega, ... + 'InputFlapAngles', Iualpha, ... + 'InputThruster', Iuomega); + +if do_plots + % Conversion factors + to_deg = 180 / pi; % radians to degrees + to_rpm = pi / 30; % rad / s to RPM + + % Figure for flaps and Euler angles + figure; + sgtitle(sprintf(... + '\\bfseries Step Response of Flap and Euler Angles (%s)', ... + ctrl.Name), 'Interpreter', 'latex'); + + % Plot limits + ref_value = params.performance.ReferencePosMaxDistance; + alpha_max_deg = params.actuators.ServoAbsMaxAngle * to_deg; + euler_lim_deg = 1.5; % params.performance.AngleMaxPitchRoll * to_deg; + omega_max_rpm = (params.actuators.PropellerMaxAngularVelocity ... + - params.linearization.Inputs(5)) * to_rpm; + omega_min_rpm = -params.linearization.Inputs(5) * to_rpm; + + % Plot step response from x to alpha + subplot(2, 3, 1); + hold on; + plot(t_xy, out_step_x(:, Ialpha(1)) * to_deg); + plot(t_xy, out_step_x(:, Ialpha(2)) * to_deg); + plot(t_xy, out_step_x(:, Ialpha(3)) * to_deg); + plot(t_xy, out_step_x(:, Ialpha(4)) * to_deg); + plot([0, T_final_horiz], [1, 1] * alpha_max_deg, 'r--'); + plot([0, T_final_horiz], [-1, -1] * alpha_max_deg, 'r--'); + grid on; + xlim([0, T_final_horiz]); + ylim([-alpha_max_deg * 1.1, alpha_max_deg * 1.1]); + title('Horizontal $x$ to Flaps', 'Interpreter', 'latex'); + ylabel('Flap Angle (degrees)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$\alpha_1(t)$', '$\alpha_2(t)$', '$\alpha_3(t)$', '$\alpha_4(t)$', ... + 'Interpreter', 'latex'); + + % Plot step response from y to alpha + subplot(2, 3, 2); hold on; + plot(t_xy, out_step_y(:, Ialpha(1)) * to_deg); + plot(t_xy, out_step_y(:, Ialpha(2)) * to_deg); + plot(t_xy, out_step_y(:, Ialpha(3)) * to_deg); + plot(t_xy, out_step_y(:, Ialpha(4)) * to_deg); + plot([0, T_final_horiz], [1, 1] * alpha_max_deg, 'r--'); + plot([0, T_final_horiz], [-1, -1] * alpha_max_deg, 'r--'); + grid on; + xlim([0, T_final_horiz]); + ylim([-alpha_max_deg * 1.1, alpha_max_deg * 1.1]); + title('Horizontal $y$ to Flaps', 'Interpreter', 'latex'); + ylabel('Flap Angle (degrees)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$\alpha_1(t)$', '$\alpha_2(t)$', '$\alpha_3(t)$', '$\alpha_4(t)$', ... + 'Interpreter', 'latex'); + + % Plot step response from z to alpha + subplot(2, 3, 3); hold on; + plot(t_z, out_step_z(:, Ialpha(1)) * to_deg); + plot(t_z, out_step_z(:, Ialpha(2)) * to_deg); + plot(t_z, out_step_z(:, Ialpha(3)) * to_deg); + plot(t_z, out_step_z(:, Ialpha(4)) * to_deg); + plot([0, T_final_vert], [1, 1] * alpha_max_deg, 'r--'); + plot([0, T_final_vert], [-1, -1] * alpha_max_deg, 'r--'); + grid on; + xlim([0, T_final_vert]); + ylim([-alpha_max_deg * 1.1, alpha_max_deg * 1.1]); + title('Vertical $z$ to Flaps', 'Interpreter', 'latex'); + ylabel('Flap Angle (degrees)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$\alpha_1(t)$', '$\alpha_2(t)$', '$\alpha_3(t)$', '$\alpha_4(t)$', ... + 'Interpreter', 'latex'); + + % Plot step response from x to Theta + subplot(2, 3, 4); hold on; + plot(t_xy, out_step_x(:, ITheta(1)) * to_deg); + plot(t_xy, out_step_x(:, ITheta(2)) * to_deg); + plot(t_xy, out_step_x(:, ITheta(3)) * to_deg); + grid on; + xlim([0, T_final_horiz]); + ylim([-euler_lim_deg, euler_lim_deg]); + title('Horizontal $x$ to Euler Angles', 'Interpreter', 'latex'); + ylabel('Euler Angle (degrees)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$\phi(t)$ Roll ', '$\theta(t)$ Pitch ', '$\psi(t)$ Yaw ', ... + 'Interpreter', 'latex'); + + % Plot step response from y to Theta + subplot(2, 3, 5); hold on; + plot(t_xy, out_step_y(:, ITheta(1)) * to_deg); + plot(t_xy, out_step_y(:, ITheta(2)) * to_deg); + plot(t_xy, out_step_y(:, ITheta(3)) * to_deg); + grid on; + xlim([0, T_final_horiz]); + ylim([-euler_lim_deg, euler_lim_deg]); + title('Horizontal $y$ to Euler Angles', 'Interpreter', 'latex'); + ylabel('Euler Angle (degrees)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$\phi(t)$ Roll ', '$\theta(t)$ Pitch ', '$\psi(t)$ Yaw ', ... + 'Interpreter', 'latex'); + + % Plot step response from z to Theta + subplot(2, 3, 6); hold on; + plot(t_z, out_step_z(:, ITheta(1)) * to_deg); + plot(t_z, out_step_z(:, ITheta(2)) * to_deg); + plot(t_z, out_step_z(:, ITheta(3)) * to_deg); + grid on; + xlim([0, T_final_vert]); + ylim([-euler_lim_deg, euler_lim_deg]); + title('Vertical $z$ to Euler Angles', 'Interpreter', 'latex'); + ylabel('Euler Angle (degrees)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$\phi(t)$ Roll ', '$\theta(t)$ Pitch ', '$\psi(t)$ Yaw ', ... + 'Interpreter', 'latex'); + + % Plot step response from z to omega + figure; + sgtitle(sprintf(... + '\\bfseries Step Response to Propeller (%s)', ... + ctrl.Name), 'Interpreter', 'latex'); + + hold on; + step(P_nom_clp(Iomega, Ir(3)) * to_rpm, T_final_vert); + plot([0, T_final_vert], [1, 1] * omega_min_rpm, 'r--'); + plot([0, T_final_vert], [1, 1] * omega_max_rpm, 'r--'); + grid on; + ylim([omega_min_rpm - 1, omega_max_rpm + 1]); + title('Vertical $z$ to Thruster $\omega$', 'Interpreter', 'latex'); + ylabel('Angular Velocity (RPM)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$\omega(t)$', 'Interpreter', 'latex'); + + % Figure for position and velocity + figure; + sgtitle(sprintf(... + '\\bfseries Step Response of Position and Speed (%s)', ... + ctrl.Name), 'Interpreter', 'latex'); + + % Plot step response from horizontal reference to horizontal position + subplot(2, 2, 1); hold on; + plot(t_xy, out_step_x(:, IP(1))); + plot(t_xy, out_step_y(:, IP(2))); + % plot([0, T_final_horiz], [1, 1] * ref_value, 'r:'); + % plot(t_xy, out_step_xydes, 'r--'); + grid on; + title('Horizontal Position Error', 'Interpreter', 'latex'); + ylabel('Error (meters)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$x(t)$', '$y(t)$', 'Interpreter', 'latex'); + + % Plot step response horizontal reference to horizontal speed + subplot(2, 2, 2); hold on; + plot(t_xy, out_step_x(:, IPdot(1))); + plot(t_xy, out_step_y(:, IPdot(2))); + grid on; + title('Horizontal Velocity', 'Interpreter', 'latex'); + ylabel('Velocity (m / s)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$\dot{x}(t)$', '$\dot{y}(t)$', 'Interpreter', 'latex'); + + % Plot step response from vertical reference to vertical position + subplot(2, 2, 3); hold on; + plot(t_z, out_step_z(:, IP(3))); + % plot([0, T_final_vert], [1, 1] * ref_value, 'r:'); + % plot(t_z, out_step_zdes, 'r--'); + grid on; + title('Vertical Position Error', 'Interpreter', 'latex'); + ylabel('Error (meters)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$z(t)$', 'Interpreter', 'latex'); + + % Plot step response vertical reference to vertical speed + subplot(2, 2, 4); hold on; + plot(t_z, out_step_z(:, IPdot(3))); + grid on; + title('Vertical Velocity', 'Interpreter', 'latex'); + ylabel('Velocity (m / s)', 'Interpreter', 'latex'); + xlabel('Time (seconds)', 'Interpreter', 'latex'); + legend('$\dot{z}(t)$', 'Interpreter', 'latex'); +end + +end +% vim:ts=2 sw=2 et: |