diff --git a/controls/model/test_model_R2015A.mdl b/controls/model/test_model_R2015A.mdl
index bdec86fe72075d99163046fc48e26d1eb4ad7931..e9f89ef1567370796e8fc84617da0252023faa91 100644
--- a/controls/model/test_model_R2015A.mdl
+++ b/controls/model/test_model_R2015A.mdl
@@ -6,7 +6,7 @@ Model {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.1926"
+ ComputedModelVersion "1.1990"
NumModelReferences 0
NumTestPointedSignals 0
}
@@ -45,28 +45,16 @@ Model {
$ClassName "Simulink.ExplorerBarInfo"
Visible [0]
}
- Array {
- Type "Simulink.EditorInfo"
- Dimension 2
- Object {
- $ObjectID 5
- IsActive [0]
- ViewObjType "SimulinkTopLevel"
- LoadSaveID "0"
- Extents [1755.0, 904.0]
- ZoomFactor [1.25]
- Offset [317.9000000000002, 148.73333824475606]
- }
- Object {
- $ObjectID 6
- IsActive [1]
- ViewObjType "SimulinkSubsys"
- LoadSaveID "573"
- Extents [1755.0, 904.0]
- ZoomFactor [1.5]
- Offset [135.31666666666638, 158.93095238095214]
- }
- PropName "EditorsInfo"
+ Object {
+ $PropName "EditorsInfo"
+ $ObjectID 5
+ $ClassName "Simulink.EditorInfo"
+ IsActive [1]
+ ViewObjType "SimulinkSubsys"
+ LoadSaveID "604"
+ Extents [1755.0, 906.0]
+ ZoomFactor [1.25]
+ Offset [-66.504761904761608, 11.616666666666674]
}
}
}
@@ -76,9 +64,9 @@ Model {
ModifiedByFormat "%<Auto>"
LastModifiedBy "Andy"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Wed Feb 08 12:06:59 2017"
- RTWModifiedTimeStamp 408456418
- ModelVersionFormat "1.%<AutoIncrement:1926>"
+ LastModifiedDate "Fri Feb 17 19:24:55 2017"
+ RTWModifiedTimeStamp 409260295
+ ModelVersionFormat "1.%<AutoIncrement:1990>"
ConfigurationManager "none"
SampleTimeColors off
SampleTimeAnnotations off
@@ -119,7 +107,7 @@ Model {
TryForcingSFcnDF off
Object {
$PropName "DataLoggingOverride"
- $ObjectID 8
+ $ObjectID 7
$ClassName "Simulink.SimulationData.ModelLoggingInfo"
model_ "test_model_R2015A"
overrideMode_ [0.0]
@@ -184,16 +172,16 @@ Model {
Type "Handle"
Dimension 1
Simulink.ConfigSet {
- $ObjectID 9
+ $ObjectID 8
Version "1.15.0"
Array {
Type "Handle"
Dimension 8
Simulink.SolverCC {
- $ObjectID 10
+ $ObjectID 9
Version "1.15.0"
StartTime "0.0"
- StopTime "10"
+ StopTime "20"
AbsTol "auto"
FixedStep "auto"
InitialStep "auto"
@@ -225,7 +213,7 @@ Model {
InsertRTBMode "Whenever possible"
}
Simulink.DataIOCC {
- $ObjectID 11
+ $ObjectID 10
Version "1.15.0"
Decimation "1"
ExternalInput "[t, u]"
@@ -258,7 +246,7 @@ Model {
Refine "1"
}
Simulink.OptimizationCC {
- $ObjectID 12
+ $ObjectID 11
Version "1.15.0"
Array {
Type "Cell"
@@ -315,7 +303,7 @@ Model {
AccelVerboseBuild off
}
Simulink.DebuggingCC {
- $ObjectID 13
+ $ObjectID 12
Version "1.15.0"
RTPrefix "error"
ConsistencyChecking "none"
@@ -403,7 +391,7 @@ Model {
IntegerSaturationMsg "warning"
}
Simulink.HardwareCC {
- $ObjectID 14
+ $ObjectID 13
Version "1.15.0"
ProdBitPerChar 8
ProdBitPerShort 16
@@ -443,7 +431,7 @@ Model {
ProdEqTarget on
}
Simulink.ModelReferenceCC {
- $ObjectID 15
+ $ObjectID 14
Version "1.15.0"
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
CheckModelReferenceTargetMessage "error"
@@ -458,7 +446,7 @@ Model {
SupportModelReferenceSimTargetCustomCode off
}
Simulink.SFSimCC {
- $ObjectID 16
+ $ObjectID 15
Version "1.15.0"
SFSimEcho on
SimCtrlC on
@@ -470,7 +458,7 @@ Model {
}
Simulink.RTWCC {
$BackupClass "Simulink.RTWCC"
- $ObjectID 17
+ $ObjectID 16
Version "1.15.0"
Array {
Type "Cell"
@@ -538,7 +526,7 @@ Model {
Type "Handle"
Dimension 2
Simulink.CodeAppCC {
- $ObjectID 18
+ $ObjectID 17
Version "1.15.0"
Array {
Type "Cell"
@@ -611,7 +599,7 @@ Model {
}
Simulink.GRTTargetCC {
$BackupClass "Simulink.TargetCC"
- $ObjectID 19
+ $ObjectID 18
Version "1.15.0"
Array {
Type "Cell"
@@ -707,11 +695,11 @@ Model {
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
- $ObjectID 9
+ $ObjectID 8
}
Object {
$PropName "DataTransfer"
- $ObjectID 21
+ $ObjectID 20
$ClassName "Simulink.GlobalDataTransfer"
DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
@@ -1051,7 +1039,7 @@ Model {
ShowPageBoundaries off
ZoomFactor "125"
ReportName "simulink-default.rpt"
- SIDHighWatermark "864"
+ SIDHighWatermark "876"
Block {
BlockType SubSystem
Name " Sensors "
@@ -1060,12 +1048,11 @@ Model {
Position [1300, 422, 1520, 658]
ZOrder 73
ShowName off
- Commented "on"
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 22
+ $ObjectID 21
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{B}Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on');"
"\nport_label('input', 3, '^{B}v_o', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmode', 'on');\nport_labe"
@@ -1153,7 +1140,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 23
+ $ObjectID 22
$ClassName "Simulink.Mask"
Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
}
@@ -1650,7 +1637,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 24
+ $ObjectID 23
$ClassName "Simulink.Mask"
Display "port_label('input',1, '\\Theta','texmode','on')\nport_label('input',2,'r_{o}','texmode','on')"
}
@@ -2152,7 +2139,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 25
+ $ObjectID 24
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Gyroscope Reading', 'texmode', 'on');\nport_label('input', 2, '\\Theta_{IMU"
"}', 'texmode', 'on');\nport_label('output', 1, 'd\\Theta_{Gyro}/dt', 'texmode', 'on');\ndisp('A_{EB}', 'texmode',"
@@ -2290,7 +2277,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 26
+ $ObjectID 25
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Accelerometer Reading', 'texmode', 'on');\nport_label('output', 1, '\\theta"
"_{accel}', 'texmode', 'on');\nport_label('output', 2, '\\phi_{accel}', 'texmode', 'on');\ndisp('Calculate Pitch a"
@@ -2451,7 +2438,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 27
+ $ObjectID 26
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '\\theta_{accel}', 'texmode', 'on');\nport_label('input', 2, '\\phi_{accel}'"
", 'texmode', 'on');\nport_label('input', 3, '\\Theta_{Gyro}', 'texmode', 'on');\n%port_label('input', 4, '\\Theta"
@@ -2676,7 +2663,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 28
+ $ObjectID 27
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{B}dv_o/dt', 'texmode', 'on')\nport_label('input', 2, '^{B}v_o', 'texmode'"
", 'on')\nport_label('input', 3, '^{B}\\Omega', 'texmode', 'on')\nport_label('input', 4, '^{B}g', 'texmode', 'on')"
@@ -2749,7 +2736,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 29
+ $ObjectID 28
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{B}dv_o/dt', 'texmode', 'on')\nport_label('input', 2, '^{B}v_o', 'texmode', 'on'"
")\nport_label('input', 3, '^{B}\\Omega', 'texmode', 'on')\nport_label('input', 4, '^{B}g', 'texmode', 'on')\nport_la"
@@ -3653,7 +3640,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 30
+ $ObjectID 29
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{E}r_o', 'texmode', 'on');\nport_label('input', 2, '\\psi', 'texmode', 'on"
"');\nport_label('output', 1, '^{E}r_o camera', 'texmode', 'on');\nport_label('output', 2, '\\psi camera', 'texmod"
@@ -4189,12 +4176,12 @@ Model {
EnableBusSupport off
Object {
$PropName "MaskObject"
- $ObjectID 31
+ $ObjectID 30
$ClassName "Simulink.Mask"
Display "color('red')\ndisp('Soft Real Time')\n"
Object {
$PropName "Parameters"
- $ObjectID 32
+ $ObjectID 31
$ClassName "Simulink.MaskParameter"
Type "edit"
Name "x"
@@ -4529,14 +4516,14 @@ Model {
Name "Actuation"
SID "436"
Ports [1, 6]
- Position [950, 426, 1200, 654]
+ Position [955, 426, 1205, 654]
ZOrder 71
ShowName off
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 33
+ $ObjectID 32
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Rotor Duty Cycles', 'texmode', 'on');\nport_label('output', 1, '^{B}Omega', 'texmo"
"de', 'on');\nport_label('output', 2, '\\Theta', 'texmode', 'on');\nport_label('output', 3, '^{B}v_o', 'texmode', 'on'"
@@ -4557,7 +4544,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "60"
+ ZoomFactor "50"
Block {
BlockType Inport
Name "Rotor Duty Cycles"
@@ -4582,7 +4569,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 34
+ $ObjectID 33
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^B\\Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode',"
" 'on');\nport_label('output', 1, 'd\\Theta/dt', 'texmode', 'on');\ndisp('A_{EB}', 'texmode', 'on');"
@@ -4864,7 +4851,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 35
+ $ObjectID 34
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Rotor Duty Cycle', 'texmode', 'on');\nport_label('output', 1, 'Vb_{eff}', '"
"texmode', 'on');\ndisp('ESC System');"
@@ -4985,7 +4972,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 36
+ $ObjectID 35
$ClassName "Simulink.Mask"
Display "port_label('output', 1, '^EF_g', 'texmode', 'on');\nfprintf('Gravity');\n"
}
@@ -5150,7 +5137,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 37
+ $ObjectID 36
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^Bv_o', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on"
"');\nport_label('output', 1, '^Ev_o', 'texmode', 'on');\ndisp('L_{EB}', 'texmode', 'on');"
@@ -5287,7 +5274,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 38
+ $ObjectID 37
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^EF_g', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on"
"');\nport_label('output', 1, '^BF_g', 'texmode', 'on');\ndisp('L_{BE}', 'texmode', 'on');"
@@ -5448,7 +5435,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 39
+ $ObjectID 38
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Vb_{eff}', 'texmode', 'on');\nport_label('input', 2, '\\omega', 'texmode', "
"'on');\nport_label('output', 1, '\\alpha', 'texmode', 'on');\ndisp('Motor System');\n"
@@ -5585,7 +5572,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 40
+ $ObjectID 39
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '\\alpha', 'texmode', 'on');\nport_label('input', 2, '\\omega', 'texmode', '"
"on');\nport_label('input', 3, '^BF_g', 'texmode', 'on');\nport_label('input', 4, '^B\\Omega', 'texmode', 'on');\n"
@@ -5797,8 +5784,8 @@ Model {
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData
- YMin 5.92023
- YMax 7.92023
+ YMin -1.3875
+ YMax 12.4875
SampleInput off
SampleTime -1
ZoomMode on
@@ -5819,7 +5806,7 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ Location [1 431.666666666667 1281 1039]
}
Block {
BlockType Scope
@@ -6736,7 +6723,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 41
+ $ObjectID 40
$ClassName "Simulink.Mask"
Display "port_label('output', 1, 'Setpoints', 'texmode', 'on');"
}
@@ -6754,7 +6741,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "300"
+ ZoomFactor "400"
Block {
BlockType Step
Name "Step"
@@ -6763,7 +6750,7 @@ Model {
ZOrder 32
Time "0"
Before "[0; 0; 0; 0]"
- After "[1; 0; 0; 0]"
+ After "[1; 1; 1; 0]"
SampleTime "0"
}
Block {
@@ -6795,7 +6782,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 42
+ $ObjectID 41
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Setpoints', 'texmode', 'on');\nport_label('input', 2, '\\Theta_{filtered}', 'texmo"
"de', 'on');\nport_label('input', 3, 'd\\Theta_{gyro}/dt', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmo"
@@ -6815,7 +6802,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "150"
+ ZoomFactor "125"
Block {
BlockType Inport
Name "setpoints"
@@ -6862,7 +6849,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 43
+ $ObjectID 42
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{E}r_{x,setpoint}', 'texmode', 'on');\nport_label('input', 2, '^{E}r_{y,se"
"tpoint}', 'texmode', 'on');\nport_label('input', 3, '^{E}r_{z,setpoint}', 'texmode', 'on');\nport_label('input', "
@@ -6888,7 +6875,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "100"
+ ZoomFactor "125"
Block {
BlockType Inport
Name "x_setpoint"
@@ -7010,26 +6997,26 @@ Model {
Block {
BlockType Reference
Name "PID Controller1"
- SID "590"
+ SID "873"
Ports [1, 1]
- Position [260, 392, 300, 428]
- ZOrder 32
+ Position [545, 392, 585, 428]
+ ZOrder 142
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PID"
- TimeDomain "Continuous-time"
+ Controller "P"
+ TimeDomain "Discrete-time"
SampleTime "-1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "-4.09881115615483"
- I "-0.786626898521519"
- D "-2.54021507170204"
- N "2907.76761508735"
+ P "11704.603181499"
+ I "1575.82088970639"
+ D "504.111397357926"
+ N "244.660686071579"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7143,17 +7130,17 @@ Model {
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "PID"
- TimeDomain "Continuous-time"
+ TimeDomain "Discrete-time"
SampleTime "-1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "9.8515811170609"
- I "10.3080265333453"
- D "1.32394710402659"
- N "7.32609641947859"
+ P "18.2047089970703"
+ I "41.2370914044818"
+ D "0.164227327211332"
+ N "17.8214030142826"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7267,17 +7254,17 @@ Model {
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "PID"
- TimeDomain "Continuous-time"
+ TimeDomain "Discrete-time"
SampleTime "-1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "-5.58*5"
- I "-0.323"
- D "-15.5*0.6"
- N "1/0.00106"
+ P "-3138.91816077077"
+ I "-320.189162634817"
+ D "-7421.98260028101"
+ N "5.79502261645411"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7391,14 +7378,14 @@ Model {
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "P"
- TimeDomain "Continuous-time"
+ TimeDomain "Discrete-time"
SampleTime "-1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "-359098.201085257"
+ P "73938.0302695888"
I "-77.7"
D "2.32"
N "1/0.0818"
@@ -7505,27 +7492,27 @@ Model {
}
Block {
BlockType Reference
- Name "PID Controller4"
- SID "854"
+ Name "PID Controller3"
+ SID "874"
Ports [1, 1]
Position [405, 392, 445, 428]
- ZOrder 128
+ ZOrder 143
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PD"
- TimeDomain "Continuous-time"
+ Controller "P"
+ TimeDomain "Discrete-time"
SampleTime "-1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "49.9288564716647"
+ P "7.19768640475995"
I "35.1207902652377"
- D "1.71644717082694"
- N "5320.80923448602"
+ D "0.410623594074865"
+ N "40.0107970227961"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7629,27 +7616,27 @@ Model {
}
Block {
BlockType Reference
- Name "PID Controller5"
- SID "594"
+ Name "PID Controller4"
+ SID "876"
Ports [1, 1]
- Position [405, 237, 445, 273]
- ZOrder 36
+ Position [260, 392, 300, 428]
+ ZOrder 145
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PD"
- TimeDomain "Continuous-time"
+ Controller "PID"
+ TimeDomain "Discrete-time"
SampleTime "-1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "0.718*5"
- I "0"
- D "2.15"
- N "100"
+ P "-0.0367011843201958"
+ I "-0.000988506276189655"
+ D "-0.12757930213039"
+ N "2.69036257045651"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7753,27 +7740,27 @@ Model {
}
Block {
BlockType Reference
- Name "PID Controller7"
- SID "596"
+ Name "PID Controller6"
+ SID "867"
Ports [1, 1]
- Position [545, 392, 585, 428]
- ZOrder 133
+ Position [260, 237, 300, 273]
+ ZOrder 136
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PD"
- TimeDomain "Continuous-time"
+ Controller "PID"
+ TimeDomain "Discrete-time"
SampleTime "-1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "18237.343549923"
- I "1575.82088970639"
- D "674.387075196541"
- N "309.449971015086"
+ P "0.0367011843201958"
+ I "0.000988506276189655"
+ D "0.12757930213039"
+ N "2.69036257045651"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7878,26 +7865,26 @@ Model {
Block {
BlockType Reference
Name "PID Controller8"
- SID "597"
+ SID "868"
Ports [1, 1]
- Position [545, 237, 585, 273]
- ZOrder 39
+ Position [405, 237, 445, 273]
+ ZOrder 137
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "P"
- TimeDomain "Continuous-time"
+ TimeDomain "Discrete-time"
SampleTime "-1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "20"
- I "0"
- D "0"
- N "100"
+ P "7.19768640475995"
+ I "35.1207902652377"
+ D "0.410623594074865"
+ N "40.0107970227961"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -8002,26 +7989,26 @@ Model {
Block {
BlockType Reference
Name "PID Controller9"
- SID "829"
+ SID "869"
Ports [1, 1]
- Position [260, 237, 300, 273]
- ZOrder 120
+ Position [545, 237, 585, 273]
+ ZOrder 138
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PID"
- TimeDomain "Continuous-time"
+ Controller "P"
+ TimeDomain "Discrete-time"
SampleTime "-1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "0.7"
- I "0.114"
- D "0.596"
- N "1/0.00195"
+ P "11704.603181499"
+ I "1575.82088970639"
+ D "504.111397357926"
+ N "244.660686071579"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
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MaxDataPoints 5000
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SaveName ScopeData5
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SampleInput off
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MaxDataPoints 5000
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SaveName ScopeData3
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SampleInput off
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ListType AxesTitles
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MaxDataPoints 5000
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SaveName ScopeData3
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SampleInput off
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ListType AxesTitles
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Location [1 76 1921 1039]
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Block {
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DstPort 1
}
Line {
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SrcBlock "Sum1"
SrcPort 1
- DstBlock "PID Controller5"
- DstPort 1
- }
- Line {
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SrcBlock "Sum5"
SrcPort 1
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DstPort 1
}
Line {
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DstPort 1
}
Line {
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SrcPort 1
- DstBlock "PID Controller4"
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DstPort 1
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DstBlock "x_controlled"
DstPort 1
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DstBlock "Sum4"
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SrcPort 1
DstBlock "Sum3"
DstPort 1
}
+ Line {
+ ZOrder 464
+ SrcBlock "PID Controller9"
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+ DstBlock "y_controlled"
+ DstPort 1
+ }
}
}
Block {
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LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
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Block {
BlockType Sum
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DstPort 1
}
Line {
- ZOrder 186
+ ZOrder 189
+ SrcBlock "Actuation"
+ SrcPort 1
+ DstBlock " Sensors "
+ DstPort 1
+ }
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SrcBlock "Actuation"
SrcPort 2
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+ DstBlock " Sensors "
DstPort 2
}
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+ ZOrder 191
SrcBlock "Actuation"
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DstPort 3
}
Line {
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SrcBlock "Actuation"
SrcPort 4
- Points [23, 0; 0, 140; -604, 0; 0, -80]
+ DstBlock " Sensors "
+ DstPort 4
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DstBlock "Control System"
DstPort 4
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+ DstBlock "Control System"
+ DstPort 2
+ }
}
}
#Finite State Machines
@@ -10500,35 +10506,38 @@ Stateflow {
eml {
isEML 1
script "function [B_omega_dot, B_vo_dot]= rotor(angular_acceleration, angular_velocity, B_Fg, B_omega, B_"
- "vo, m, Kt, Kd, rhx, rhy, rhz, Jreq, Jxx, Jyy, Jzz)\n\nB_vo_dot = zeros(3,1);\nB_omega_dot = zeros(3,1);\n\n% Cre"
- "ate J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;];\n\n% Create r_hi vector\nr"
- "h_0 = [-rhx; rhy; rhz];\nrh_1 = [rhx; rhy; rhz];\nrh_2 = [-rhx; -rhy; rhz];\nrh_3 = [rhx; -rhy; rhz];\n\n% Defin"
- "e vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Define 3x3 Identity Matrix\nI = eye(3"
- ");\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\ngamma_omega_03 = [0; 0; -1]; %Rotors 0 and 3 use this gam"
- "ma_omega vector\ngamma_omega_12 = [0; 0; 1]; %Rotors 1 and 2 use this gamma_omega vector\n\n% Define angular vel"
- "ocities for each rotor\nw_0 = angular_velocity(1);\nw_1 = angular_velocity(2);\nw_2 = angular_velocity(3);\nw_3 "
- "= angular_velocity(4);\n\n% Define angular acceleration for each rotor\nw_0_dot = angular_acceleration(1);\nw_1_"
- "dot = angular_acceleration(2);\nw_2_dot = angular_acceleration(3);\nw_3_dot = angular_acceleration(4);\n\n% Defi"
- "ne the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * w_0 * w_0 * gamma_Ti;\nB_Fr_1 = Kt * w_1 * "
- "w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w_3 * w_3 * gamma_Ti;\n\n% Sum up the rotor "
- "forces in the z-direction from each vector to get the\n% total body force in the z-direction\nB_Fr = B_Fr_0 + B_"
- "Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced torque produced by each rotor\n B_Q_d0 = -1 * "
- "Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * gamma_omega_12;\n B_Q_d2 = -1 * Kd * w_2 * w_2"
- " * gamma_omega_12;\n B_Q_d3 = -1 * Kd * w_3 * w_3 * gamma_omega_03;\n\n% Sum up the total in-plane drag and indu"
- "ced torque to get the total\n% in-plane drag and induced torque on the body\nB_Q_d = B_Q_d0 + B_Q_d1 + B_Q_d2 + "
- "B_Q_d3;\n\n% Define the force lever arm torque created from the force produced by each\n% rotor in the z-directi"
- "on\nB_Q_F0 = cross( rh_0, B_Fr_0 );\nB_Q_F1 = cross( rh_1, B_Fr_1 );\nB_Q_F2 = cross( rh_2, B_Fr_2 );\nB_Q_F3 = "
- "cross( rh_3, B_Fr_3 );\n\nB_Q_F = B_Q_F0 + B_Q_F1 + B_Q_F2 + B_Q_F3;\n\n%Define the change in angular momentum t"
- "orque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w_0 * gamma_omega_03) + w_0_dot * gamma_ome"
- "ga_03 );\nB_Q_L1 = -1 * Jreq * ( cross(B_omega, w_1 * gamma_omega_12) + w_1_dot * gamma_omega_12 ); \nB_Q_L2 = -"
- "1 * Jreq * ( cross(B_omega, w_2 * gamma_omega_12) + w_2_dot * gamma_omega_12 ); \nB_Q_L3 = -1 * Jreq * ( cross(B"
- "_omega, w_3 * gamma_omega_03) + w_3_dot * gamma_omega_03 );\n\n% Sum up the total change in angular momentum tor"
- "que produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;\n\n% Define the total rotor system torque"
- " as the sum of the in-plane drag and\n% induced torque, force lever arm torque, and change in angular momentum\n"
- "% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in the z-direction from each vector to get t"
- "he\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% Define the body frame linear velocities\nB_v"
- "o_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, br_oc)) ) );\n\n% Define the body frame an"
- "gular velocities\nB_omega_dot = J ^(-1) * ( B_Q - cross(B_omega, J * B_omega) - cross(br_oc, B_F) );\n\n"
+ "vo, m, Kt, Kd, rhx, rhy, rhz, Jreq, Jxx, Jyy, Jzz)\n\n%B_vo_dot = zeros(3,1);\n%B_omega_dot = zeros(3,1);\n\n% C"
+ "reate J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;];\n\n% Create r_hi vector\n"
+ "% rh_0 = [-rhx; rhy; rhz];\n% rh_1 = [rhx; rhy; rhz];\n% rh_2 = [-rhx; -rhy; rhz];\n% rh_3 = [rhx; -rhy; rhz];\n"
+ "rh_0 = [-rhx; rhy; -rhz];\nrh_1 = [rhx; rhy; -rhz];\nrh_2 = [-rhx; -rhy; -rhz];\nrh_3 = [rhx; -rhy; -rhz];\n\n% "
+ "Define vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Define 3x3 Identity Matrix\nI = "
+ "eye(3);\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\n%gamma_omega_03 = [0; 0; -1]; %Rotors 0 and 3 use th"
+ "is gamma_omega vector\n%gamma_omega_12 = [0; 0; 1]; %Rotors 1 and 2 use this gamma_omega vector\ngamma_omega_03 "
+ "= [0; 0; 1]; %Rotors 0 and 3 use this gamma_omega vector\ngamma_omega_12 = [0; 0; -1]; %Rotors 1 and 2 use this"
+ " gamma_omega vector\n\n% Define angular velocities for each rotor\nw_0 = angular_velocity(1);\nw_1 = angular_vel"
+ "ocity(2);\nw_2 = angular_velocity(3);\nw_3 = angular_velocity(4);\n\n% Define angular acceleration for each roto"
+ "r\nw_0_dot = angular_acceleration(1);\nw_1_dot = angular_acceleration(2);\nw_2_dot = angular_acceleration(3);\nw"
+ "_3_dot = angular_acceleration(4);\n\n% Define the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * "
+ "w_0 * w_0 * gamma_Ti;\nB_Fr_1 = Kt * w_1 * w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w"
+ "_3 * w_3 * gamma_Ti;\n\n% Sum up the rotor forces in the z-direction from each vector to get the\n% total body f"
+ "orce in the z-direction\nB_Fr = B_Fr_0 + B_Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced tor"
+ "que produced by each rotor\n B_Q_d0 = -1 * Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * gam"
+ "ma_omega_12;\n B_Q_d2 = -1 * Kd * w_2 * w_2 * gamma_omega_12;\n B_Q_d3 = -1 * Kd * w_3 * w_3 * gamma_omega_03;\n"
+ "\n% Sum up the total in-plane drag and induced torque to get the total\n% in-plane drag and induced torque on th"
+ "e body\nB_Q_d = B_Q_d0 + B_Q_d1 + B_Q_d2 + B_Q_d3;\n\n% Define the force lever arm torque created from the force"
+ " produced by each\n% rotor in the z-direction\nB_Q_F0 = cross( rh_0, B_Fr_0 );\nB_Q_F1 = cross( rh_1, B_Fr_1 );\n"
+ "B_Q_F2 = cross( rh_2, B_Fr_2 );\nB_Q_F3 = cross( rh_3, B_Fr_3 );\n\nB_Q_F = B_Q_F0 + B_Q_F1 + B_Q_F2 + B_Q_F3;\n"
+ "\n%Define the change in angular momentum torque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w"
+ "_0 * gamma_omega_03) + w_0_dot * gamma_omega_03 );\nB_Q_L1 = -1 * Jreq * ( cross(B_omega, w_1 * gamma_omega_12) "
+ "+ w_1_dot * gamma_omega_12 ); \nB_Q_L2 = -1 * Jreq * ( cross(B_omega, w_2 * gamma_omega_12) + w_2_dot * gamma_om"
+ "ega_12 ); \nB_Q_L3 = -1 * Jreq * ( cross(B_omega, w_3 * gamma_omega_03) + w_3_dot * gamma_omega_03 );\n\n% Sum u"
+ "p the total change in angular momentum torque produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;"
+ "\n\n% Define the total rotor system torque as the sum of the in-plane drag and\n% induced torque, force lever ar"
+ "m torque, and change in angular momentum\n% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in"
+ " the z-direction from each vector to get the\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% De"
+ "fine the body frame linear velocities\nB_vo_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, "
+ "br_oc)) ) );\n\n% Define the body frame angular velocities\nB_omega_dot = J ^(-1) * ( B_Q - cross(B_omega, J * B"
+ "_omega) - cross(br_oc, B_F) );\n\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}