From cefab60eda039247304071d8e98bdd65373e5597 Mon Sep 17 00:00:00 2001
From: Rich <m87rich@iastate.edu>
Date: Sun, 19 Feb 2017 00:50:56 -0600
Subject: [PATCH] Some rough updates to the model to reflect previously
unmodeled behavior in the IMU and the alternative of using the camera system
directly for pitch and roll.
---
controls/model/test_model_R2015A.mdl | 501 +++++++++++++++++----------
1 file changed, 319 insertions(+), 182 deletions(-)
diff --git a/controls/model/test_model_R2015A.mdl b/controls/model/test_model_R2015A.mdl
index dc5c49d25..a56eba769 100644
--- a/controls/model/test_model_R2015A.mdl
+++ b/controls/model/test_model_R2015A.mdl
@@ -7,7 +7,7 @@ Model {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.1992"
+ ComputedModelVersion "1.2001"
NumModelReferences 0
NumTestPointedSignals 0
}
@@ -29,7 +29,7 @@ Model {
$ObjectID 2
$ClassName "Simulink.WindowInfo"
IsActive [1]
- Location [108.0, 36.0, 1742.0, 940.0]
+ Location [126.0, 17.0, 1743.0, 940.0]
Object {
$PropName "ModelBrowserInfo"
$ObjectID 3
@@ -46,16 +46,28 @@ Model {
$ClassName "Simulink.ExplorerBarInfo"
Visible [1]
}
- Object {
- $PropName "EditorsInfo"
- $ObjectID 5
- $ClassName "Simulink.EditorInfo"
- IsActive [1]
- ViewObjType "SimulinkSubsys"
- LoadSaveID "604"
- Extents [1692.0, 765.0]
- ZoomFactor [1.25]
- Offset [-66.304761904761563, 99.416666666666686]
+ Array {
+ Type "Simulink.EditorInfo"
+ Dimension 2
+ Object {
+ $ObjectID 5
+ IsActive [1]
+ ViewObjType "SimulinkSubsys"
+ LoadSaveID "604"
+ Extents [1693.0, 762.0]
+ ZoomFactor [1.25]
+ Offset [-176.29999999999973, 87.623328789075]
+ }
+ Object {
+ $ObjectID 6
+ IsActive [0]
+ ViewObjType "SimulinkSubsys"
+ LoadSaveID "650"
+ Extents [1693.0, 762.0]
+ ZoomFactor [1.25]
+ Offset [1131.6600014448165, 457.59999999999991]
+ }
+ PropName "EditorsInfo"
}
}
}
@@ -65,9 +77,9 @@ Model {
ModifiedByFormat "%<Auto>"
LastModifiedBy "m87rich"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Sat Feb 18 00:09:36 2017"
- RTWModifiedTimeStamp 409277344
- ModelVersionFormat "1.%<AutoIncrement:1992>"
+ LastModifiedDate "Sat Feb 18 23:17:32 2017"
+ RTWModifiedTimeStamp 409360648
+ ModelVersionFormat "1.%<AutoIncrement:2001>"
ConfigurationManager "none"
SampleTimeColors on
SampleTimeAnnotations off
@@ -108,7 +120,7 @@ Model {
TryForcingSFcnDF off
Object {
$PropName "DataLoggingOverride"
- $ObjectID 6
+ $ObjectID 7
$ClassName "Simulink.SimulationData.ModelLoggingInfo"
model_ "test_model_R2015A"
overrideMode_ [0.0]
@@ -173,16 +185,16 @@ Model {
Type "Handle"
Dimension 1
Simulink.ConfigSet {
- $ObjectID 7
+ $ObjectID 8
Version "1.15.0"
Array {
Type "Handle"
Dimension 8
Simulink.SolverCC {
- $ObjectID 8
+ $ObjectID 9
Version "1.15.0"
StartTime "0.0"
- StopTime "20"
+ StopTime "300"
AbsTol "auto"
FixedStep "auto"
InitialStep "auto"
@@ -214,7 +226,7 @@ Model {
InsertRTBMode "Whenever possible"
}
Simulink.DataIOCC {
- $ObjectID 9
+ $ObjectID 10
Version "1.15.0"
Decimation "1"
ExternalInput "[t, u]"
@@ -247,7 +259,7 @@ Model {
Refine "1"
}
Simulink.OptimizationCC {
- $ObjectID 10
+ $ObjectID 11
Version "1.15.0"
Array {
Type "Cell"
@@ -304,7 +316,7 @@ Model {
AccelVerboseBuild off
}
Simulink.DebuggingCC {
- $ObjectID 11
+ $ObjectID 12
Version "1.15.0"
RTPrefix "error"
ConsistencyChecking "none"
@@ -393,7 +405,7 @@ Model {
IntegerSaturationMsg "warning"
}
Simulink.HardwareCC {
- $ObjectID 12
+ $ObjectID 13
Version "1.15.0"
ProdBitPerChar 8
ProdBitPerShort 16
@@ -433,7 +445,7 @@ Model {
ProdEqTarget on
}
Simulink.ModelReferenceCC {
- $ObjectID 13
+ $ObjectID 14
Version "1.15.0"
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
CheckModelReferenceTargetMessage "error"
@@ -448,7 +460,7 @@ Model {
SupportModelReferenceSimTargetCustomCode off
}
Simulink.SFSimCC {
- $ObjectID 14
+ $ObjectID 15
Version "1.15.0"
SFSimOverflowDetection on
SFSimEcho on
@@ -461,7 +473,7 @@ Model {
}
Simulink.RTWCC {
$BackupClass "Simulink.RTWCC"
- $ObjectID 15
+ $ObjectID 16
Version "1.15.0"
Array {
Type "Cell"
@@ -538,7 +550,7 @@ Model {
Type "Handle"
Dimension 2
Simulink.CodeAppCC {
- $ObjectID 16
+ $ObjectID 17
Version "1.15.0"
Array {
Type "Cell"
@@ -611,7 +623,7 @@ Model {
}
Simulink.GRTTargetCC {
$BackupClass "Simulink.TargetCC"
- $ObjectID 17
+ $ObjectID 18
Version "1.15.0"
Array {
Type "Cell"
@@ -707,11 +719,11 @@ Model {
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
- $ObjectID 7
+ $ObjectID 8
}
Object {
$PropName "DataTransfer"
- $ObjectID 18
+ $ObjectID 19
$ClassName "Simulink.GlobalDataTransfer"
DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
@@ -1059,7 +1071,7 @@ Model {
}
System {
Name "test_model_R2015A"
- Location [108, 36, 1850, 976]
+ Location [126, 17, 1869, 957]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -1073,7 +1085,7 @@ Model {
ShowPageBoundaries off
ZoomFactor "125"
ReportName "simulink-default.rpt"
- SIDHighWatermark "885"
+ SIDHighWatermark "894"
Block {
BlockType SubSystem
Name " Sensors "
@@ -1085,7 +1097,7 @@ Model {
RequestExecContextInheritance off
Object {
$PropName "MaskObject"
- $ObjectID 19
+ $ObjectID 20
$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"
@@ -1095,8 +1107,8 @@ Model {
}
System {
Name " Sensors "
- Location [108, 36, 1850, 976]
- Open off
+ Location [126, 17, 1869, 957]
+ Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
@@ -1172,7 +1184,7 @@ Model {
RequestExecContextInheritance off
Object {
$PropName "MaskObject"
- $ObjectID 20
+ $ObjectID 21
$ClassName "Simulink.Mask"
Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
}
@@ -1660,10 +1672,11 @@ Model {
Ports [2]
Position [2635, 815, 2785, 875]
ZOrder 290
+ Commented "on"
RequestExecContextInheritance off
Object {
$PropName "MaskObject"
- $ObjectID 21
+ $ObjectID 22
$ClassName "Simulink.Mask"
Display "port_label('input',1, '\\Theta','texmode','on')\nport_label('input',2,'r_{o}','texmode','on')"
}
@@ -1982,17 +1995,6 @@ Model {
AutoView on
VideoDimensions "[]"
AllowVariableSize off
- FigureProperties "{'Position', 'Name', 'Viewpoint', 'CameraBound', 'CameraDirection', 'CameraPosition', '"
- "CameraUpVector', 'ZoomFactor', 'Antialiasing', 'Headlight', 'Lighting', 'NavPanel', 'Sound', 'StatusBar', 'Ster"
- "eo3D', 'Stereo3DCameraOffset', 'Stereo3DHIT', 'ToolBar', 'Textures', 'Transparency', 'Triad', 'Wireframe', 'Nav"
- "Zones', 'NavMode', 'NavSpeed', 'CaptureFileFormat', 'CaptureFileName', 'Record2DCompressMethod', 'Record2DCompr"
- "essQuality', 'Record2D', 'Record2DFileName', 'Record2DFPS'; [5.0000000000000000e+00 9.2000000000000000e+01 "
- "5.7600000000000000e+02 3.8000000000000000e+02], '', '_untitled_1', 'on', [0.0000000000000000e+00 0.00000000"
- "00000000e+00 -1.0000000000000000e+00], [0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+"
- "00], [0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00], [1.0000000000000000e+00], 'on'"
- ", 'on', 'on', 'halfbar', 'on', 'on', 'off', [1.0000000149011612e-01], [0.0000000000000000e+00], 'on', 'on', 'on"
- "', 'none', 'off', 'off', 'fly', 'normal', 'tif', '%f_anim_%n.tif', 'auto', [7.5000000000000000e+01], 'off', '%f"
- "_anim_%n.avi', 'auto'} "
}
Line {
ZOrder 1
@@ -2170,7 +2172,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 22
+ $ObjectID 23
$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',"
@@ -2306,7 +2308,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 23
+ $ObjectID 24
$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"
@@ -2465,7 +2467,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 24
+ $ObjectID 25
$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"
@@ -2689,6 +2691,7 @@ Model {
Ports [1, 1]
Position [2530, 780, 2565, 810]
ZOrder 292
+ Commented "on"
LibraryVersion "1.356"
DisableCoverage on
SourceBlock "simulink/Discrete/First-Order\nHold"
@@ -2703,6 +2706,7 @@ Model {
Ports [1, 1]
Position [2530, 875, 2565, 905]
ZOrder 296
+ Commented "on"
LibraryVersion "1.356"
DisableCoverage on
SourceBlock "simulink/Discrete/First-Order\nHold"
@@ -2721,7 +2725,7 @@ Model {
RequestExecContextInheritance off
Object {
$PropName "MaskObject"
- $ObjectID 25
+ $ObjectID 26
$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')"
@@ -2793,7 +2797,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 26
+ $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')\nport_la"
@@ -3625,7 +3629,7 @@ Model {
RequestExecContextInheritance off
Object {
$PropName "MaskObject"
- $ObjectID 27
+ $ObjectID 28
$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"
@@ -3633,7 +3637,7 @@ Model {
}
System {
Name "OptiTrack Camera System\n\n "
- Location [108, 36, 1850, 976]
+ Location [126, 17, 1868, 957]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -3645,7 +3649,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "175"
+ ZoomFactor "150"
Block {
BlockType Inport
Name "E_ro"
@@ -4104,12 +4108,12 @@ Model {
Parameters "x"
Object {
$PropName "MaskObject"
- $ObjectID 28
+ $ObjectID 29
$ClassName "Simulink.Mask"
Display "color('red')\ndisp('Soft Real Time')\n"
Object {
$PropName "Parameters"
- $ObjectID 29
+ $ObjectID 30
$ClassName "Simulink.MaskParameter"
Type "edit"
Name "x"
@@ -4464,7 +4468,7 @@ Model {
RequestExecContextInheritance off
Object {
$PropName "MaskObject"
- $ObjectID 30
+ $ObjectID 31
$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'"
@@ -4509,7 +4513,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 31
+ $ObjectID 32
$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');"
@@ -4789,7 +4793,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 32
+ $ObjectID 33
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Rotor Duty Cycle', 'texmode', 'on');\nport_label('output', 1, 'Vb_{eff}', '"
"texmode', 'on');\ndisp('ESC System');"
@@ -4908,7 +4912,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 33
+ $ObjectID 34
$ClassName "Simulink.Mask"
Display "port_label('output', 1, '^EF_g', 'texmode', 'on');\nfprintf('Gravity');\n"
}
@@ -5071,7 +5075,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 34
+ $ObjectID 35
$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');"
@@ -5206,7 +5210,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 35
+ $ObjectID 36
$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');"
@@ -5365,7 +5369,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 36
+ $ObjectID 37
$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"
@@ -5500,7 +5504,7 @@ Model {
SFBlockType "MATLAB Function"
Object {
$PropName "MaskObject"
- $ObjectID 37
+ $ObjectID 38
$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"
@@ -6555,13 +6559,13 @@ Model {
RequestExecContextInheritance off
Object {
$PropName "MaskObject"
- $ObjectID 38
+ $ObjectID 39
$ClassName "Simulink.Mask"
Display "port_label('output', 1, 'Setpoints', 'texmode', 'on');"
}
System {
Name "Communication System"
- Location [108, 36, 1850, 976]
+ Location [126, 17, 1868, 957]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -6573,16 +6577,15 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "250"
+ ZoomFactor "300"
Block {
BlockType Step
Name "Step"
SID "583"
Position [925, 390, 955, 420]
ZOrder 32
- Time "0"
Before "[0; 0; 0; 0]"
- After "[1; 1; 1; 0]"
+ After "[1; 0; 0; 0]"
SampleTime "0.1"
}
Block {
@@ -6613,7 +6616,7 @@ Model {
RequestExecContextInheritance off
Object {
$PropName "MaskObject"
- $ObjectID 39
+ $ObjectID 40
$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"
@@ -6621,7 +6624,7 @@ Model {
}
System {
Name "Control System"
- Location [108, 36, 1850, 976]
+ Location [126, 17, 1869, 957]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -6679,7 +6682,7 @@ Model {
RequestExecContextInheritance off
Object {
$PropName "MaskObject"
- $ObjectID 40
+ $ObjectID 41
$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', "
@@ -6693,7 +6696,7 @@ Model {
}
System {
Name "Controller"
- Location [108, 36, 1850, 976]
+ Location [126, 17, 1869, 957]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -6801,7 +6804,7 @@ Model {
BlockType Inport
Name "roll_rate"
SID "633"
- Position [425, 313, 455, 327]
+ Position [525, 313, 555, 327]
ZOrder 71
Port "11"
IconDisplay "Port number"
@@ -6810,7 +6813,7 @@ Model {
BlockType Inport
Name "pitch_rate"
SID "634"
- Position [425, 468, 455, 482]
+ Position [525, 468, 555, 482]
ZOrder 72
Port "12"
IconDisplay "Port number"
@@ -6824,12 +6827,56 @@ Model {
Port "13"
IconDisplay "Port number"
}
+ Block {
+ BlockType Gain
+ Name "Gain1"
+ SID "891"
+ Position [810, 117, 860, 153]
+ ZOrder 151
+ Gain "5e4"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain2"
+ SID "892"
+ Position [810, 237, 860, 273]
+ ZOrder 152
+ Gain "5e4"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain3"
+ SID "893"
+ Position [810, 392, 860, 428]
+ ZOrder 153
+ Gain "5e4"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain4"
+ SID "894"
+ Position [810, 542, 860, 578]
+ ZOrder 154
+ Gain "5e4"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
Block {
BlockType Reference
Name "PID Controller1"
SID "873"
Ports [1, 1]
- Position [545, 392, 585, 428]
+ Position [645, 392, 685, 428]
ZOrder 142
LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
@@ -6843,7 +6890,7 @@ Model {
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "11704.603181499"
+ P "0.0206615987594042"
I "1575.82088970639"
D "504.111397357926"
N "244.660686071579"
@@ -6959,17 +7006,17 @@ Model {
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PID"
+ Controller "PD"
TimeDomain "Discrete-time"
- SampleTime "0.1"
+ SampleTime "0.01"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter off
ControllerParametersSource "internal"
- P "12.7"
- I "14.1"
- D "0"
+ P "1.69332227925298"
+ I "0.373031053213692"
+ D "0.0846661139626488"
N "17.8214030142826"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
@@ -7085,15 +7132,15 @@ Model {
ContentPreviewEnabled off
Controller "PID"
TimeDomain "Discrete-time"
- SampleTime "0.1"
+ SampleTime "0.01"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter off
ControllerParametersSource "internal"
- P "-3138.91816077077"
- I "-320.189162634817"
- D "-7421.98260028101"
+ P "-0.0731264783484572"
+ I "-0.00816667990477195"
+ D "-0.163698158186742"
N "5.79502261645411"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
@@ -7201,13 +7248,13 @@ Model {
Name "PID Controller2"
SID "832"
Ports [1, 1]
- Position [405, 541, 445, 579]
+ Position [645, 541, 685, 579]
ZOrder 121
LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "P"
+ Controller "PI"
TimeDomain "Discrete-time"
SampleTime "5e-3"
IntegratorMethod "Forward Euler"
@@ -7215,8 +7262,8 @@ Model {
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "73938.0302695888"
- I "-77.7"
+ P "0.137082785475467"
+ I "1.78239822850373"
D "2.32"
N "1/0.0818"
InitialConditionSource "internal"
@@ -7325,7 +7372,7 @@ Model {
Name "PID Controller3"
SID "874"
Ports [1, 1]
- Position [405, 392, 445, 428]
+ Position [505, 392, 545, 428]
ZOrder 143
LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
@@ -7339,7 +7386,7 @@ Model {
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "7.19768640475995"
+ P "1.96697712983457"
I "35.1207902652377"
D "0.410623594074865"
N "40.0107970227961"
@@ -7455,18 +7502,18 @@ Model {
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PID"
+ Controller "PD"
TimeDomain "Discrete-time"
- SampleTime "0.1"
+ SampleTime "0.01"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter off
ControllerParametersSource "internal"
- P "-0.0367011843201958"
- I "-0.000988506276189655"
- D "-0.12757930213039"
- N "2.69036257045651"
+ P "-0.00205853009179667"
+ I "-5.49963745752816e-05"
+ D "-0.109985782101112"
+ N "16.9491526069154"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7579,18 +7626,18 @@ Model {
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PID"
+ Controller "PD"
TimeDomain "Discrete-time"
- SampleTime "0.1"
+ SampleTime "0.01"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter off
ControllerParametersSource "internal"
- P "0.0367011843201958"
- I "0.000988506276189655"
- D "0.12757930213039"
- N "2.69036257045651"
+ P "0.00195838852233056"
+ I "9.56340991394167e-06"
+ D "0.107694320434245"
+ N "16.9491526069154"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7697,7 +7744,7 @@ Model {
Name "PID Controller8"
SID "868"
Ports [1, 1]
- Position [405, 237, 445, 273]
+ Position [505, 237, 545, 273]
ZOrder 137
LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
@@ -7711,7 +7758,7 @@ Model {
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "7.19768640475995"
+ P "1.96697712983457"
I "35.1207902652377"
D "0.2"
N "40.0107970227961"
@@ -7821,7 +7868,7 @@ Model {
Name "PID Controller9"
SID "869"
Ports [1, 1]
- Position [545, 237, 585, 273]
+ Position [645, 237, 685, 273]
ZOrder 138
LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
@@ -7835,7 +7882,7 @@ Model {
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "11704.603181499"
+ P "0.0206615987594042"
I "1575.82088970639"
D "504.111397357926"
N "244.660686071579"
@@ -7940,12 +7987,48 @@ Model {
DifferentiatorOutMax "[]"
DifferentiatorOutDataTypeStr "Inherit: Inherit via internal rule"
}
+ Block {
+ BlockType Saturate
+ Name "Saturation1"
+ SID "887"
+ Ports [1, 1]
+ Position [410, 240, 440, 270]
+ ZOrder 147
+ Commented "through"
+ InputPortMap "u0"
+ UpperLimit "20*pi/180"
+ LowerLimit "-20*pi/180"
+ }
+ Block {
+ BlockType Saturate
+ Name "Saturation2"
+ SID "888"
+ Ports [1, 1]
+ Position [410, 395, 440, 425]
+ ZOrder 148
+ Commented "through"
+ InputPortMap "u0"
+ UpperLimit "20*pi/180"
+ LowerLimit "-20*pi/180"
+ }
+ Block {
+ BlockType Saturate
+ Name "Saturation3"
+ SID "889"
+ Ports [1, 1]
+ Position [410, 545, 440, 575]
+ ZOrder 149
+ Commented "through"
+ InputPortMap "u0"
+ UpperLimit "20*pi/180"
+ LowerLimit "-20*pi/180"
+ }
Block {
BlockType Scope
Name "Scope"
SID "791"
Ports [1]
- Position [410, 649, 440, 681]
+ Position [510, 649, 540, 681]
ZOrder 97
Floating off
Location [1, 76, 1921, 1039]
@@ -8010,7 +8093,7 @@ Model {
Position [265, 174, 295, 206]
ZOrder 107
Floating off
- Location [10, 76, 1926, 1039]
+ Location [593, 266, 1926, 1046]
Open off
NumInputPorts "1"
List {
@@ -8038,7 +8121,7 @@ Model {
Name "Scope3"
SID "797"
Ports [1]
- Position [550, 334, 580, 366]
+ Position [650, 334, 680, 366]
ZOrder 109
Floating off
Location [10, 76, 1926, 1039]
@@ -8103,7 +8186,7 @@ Model {
Position [240, 334, 270, 366]
ZOrder 111
Floating off
- Location [10, 76, 1926, 1039]
+ Location [1, 49, 1921, 1039]
Open off
NumInputPorts "1"
List {
@@ -8120,8 +8203,8 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- YMin "-8.5404"
- YMax "73.19137"
+ YMin "-0.035"
+ YMax "0.03"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
LimitDataPoints off
@@ -8131,10 +8214,10 @@ Model {
Name "Scope6"
SID "825"
Ports [1]
- Position [550, 484, 580, 516]
+ Position [650, 484, 680, 516]
ZOrder 117
Floating off
- Location [1, 76, 1921, 1039]
+ Location [10, 76, 1926, 1039]
Open off
NumInputPorts "1"
List {
@@ -8165,7 +8248,7 @@ Model {
Position [365, 484, 395, 516]
ZOrder 118
Floating off
- Location [1, 76, 1921, 1039]
+ Location [10, 76, 1926, 1039]
Open off
NumInputPorts "1"
List {
@@ -8196,15 +8279,26 @@ Model {
Position [245, 484, 275, 516]
ZOrder 119
Floating off
- Location [1, 76, 1921, 1039]
- Open off
+ Location [1, 49, 1921, 1039]
+ Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
- YMin "-36.42496"
- YMax "11.06872"
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.5 0.5 0.5]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[1 1 1]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ TimeRange "20"
+ YMin "1.135"
+ YMax "1.154"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
LimitDataPoints off
@@ -8242,7 +8336,7 @@ Model {
Name "Sum2"
SID "600"
Ports [2, 1]
- Position [490, 245, 510, 265]
+ Position [590, 245, 610, 265]
ZOrder 42
ShowName off
IconShape "round"
@@ -8270,7 +8364,7 @@ Model {
Name "Sum4"
SID "603"
Ports [2, 1]
- Position [490, 400, 510, 420]
+ Position [590, 400, 610, 420]
ZOrder 44
ShowName off
IconShape "round"
@@ -8339,7 +8433,7 @@ Model {
BlockType Outport
Name "height_controlled"
SID "606"
- Position [655, 128, 685, 142]
+ Position [925, 128, 955, 142]
ZOrder -2
IconDisplay "Port number"
}
@@ -8347,7 +8441,7 @@ Model {
BlockType Outport
Name "y_controlled"
SID "636"
- Position [655, 248, 685, 262]
+ Position [925, 248, 955, 262]
ZOrder 74
Port "2"
IconDisplay "Port number"
@@ -8356,7 +8450,7 @@ Model {
BlockType Outport
Name "x_controlled"
SID "637"
- Position [655, 403, 685, 417]
+ Position [925, 403, 955, 417]
ZOrder 75
Port "3"
IconDisplay "Port number"
@@ -8365,7 +8459,7 @@ Model {
BlockType Outport
Name "yaw_controlled"
SID "638"
- Position [655, 553, 685, 567]
+ Position [925, 553, 955, 567]
ZOrder 76
Port "4"
IconDisplay "Port number"
@@ -8374,7 +8468,7 @@ Model {
ZOrder 283
SrcBlock "Sum"
SrcPort 1
- DstBlock "PID Controller2"
+ DstBlock "Saturation3"
DstPort 1
}
Line {
@@ -8556,13 +8650,6 @@ Model {
DstBlock "Sum8"
DstPort 1
}
- Line {
- ZOrder 436
- SrcBlock "Sum1"
- SrcPort 1
- DstBlock "PID Controller8"
- DstPort 1
- }
Line {
ZOrder 434
SrcBlock "Sum2"
@@ -8606,75 +8693,131 @@ Model {
DstPort 1
}
Line {
- ZOrder 413
- SrcBlock "PID Controller10"
+ ZOrder 456
+ SrcBlock "PID Controller1"
SrcPort 1
- DstBlock "Sum"
+ DstBlock "Gain3"
DstPort 1
}
Line {
- ZOrder 449
- SrcBlock "PID Controller8"
+ ZOrder 459
+ SrcBlock "Sum3"
SrcPort 1
- DstBlock "Sum2"
+ DstBlock "Saturation2"
DstPort 1
}
Line {
- ZOrder 450
- SrcBlock "PID Controller6"
+ ZOrder 462
+ SrcBlock "PID Controller4"
SrcPort 1
- DstBlock "Sum1"
+ DstBlock "Sum3"
DstPort 1
}
Line {
- ZOrder 456
- SrcBlock "PID Controller1"
+ ZOrder 464
+ SrcBlock "PID Controller9"
SrcPort 1
- DstBlock "x_controlled"
+ DstBlock "Gain2"
DstPort 1
}
Line {
- ZOrder 458
- SrcBlock "PID Controller3"
+ ZOrder 473
+ SrcBlock "PID Controller11"
SrcPort 1
- DstBlock "Sum4"
+ DstBlock "Gain1"
DstPort 1
}
Line {
- ZOrder 459
- SrcBlock "Sum3"
+ ZOrder 478
+ SrcBlock "PID Controller2"
+ SrcPort 1
+ DstBlock "Gain4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 482
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "Saturation1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 486
+ SrcBlock "Saturation2"
SrcPort 1
DstBlock "PID Controller3"
DstPort 1
}
Line {
- ZOrder 462
- SrcBlock "PID Controller4"
+ ZOrder 488
+ SrcBlock "Gain1"
SrcPort 1
- DstBlock "Sum3"
+ DstBlock "height_controlled"
DstPort 1
}
Line {
- ZOrder 464
- SrcBlock "PID Controller9"
+ ZOrder 489
+ SrcBlock "Gain2"
SrcPort 1
DstBlock "y_controlled"
DstPort 1
}
Line {
- ZOrder 473
- SrcBlock "PID Controller11"
+ ZOrder 490
+ SrcBlock "Gain3"
SrcPort 1
- DstBlock "height_controlled"
+ DstBlock "x_controlled"
DstPort 1
}
Line {
- ZOrder 478
- SrcBlock "PID Controller2"
+ ZOrder 491
+ SrcBlock "Gain4"
SrcPort 1
DstBlock "yaw_controlled"
DstPort 1
}
+ Line {
+ ZOrder 492
+ SrcBlock "PID Controller3"
+ SrcPort 1
+ DstBlock "Sum4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 493
+ SrcBlock "Saturation3"
+ SrcPort 1
+ DstBlock "PID Controller2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 495
+ SrcBlock "PID Controller8"
+ SrcPort 1
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 496
+ SrcBlock "Saturation1"
+ SrcPort 1
+ DstBlock "PID Controller8"
+ DstPort 1
+ }
+ Line {
+ ZOrder 497
+ SrcBlock "PID Controller6"
+ SrcPort 1
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 498
+ SrcBlock "PID Controller10"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
}
}
Block {
@@ -9274,13 +9417,6 @@ Model {
DstBlock " Sensors "
DstPort 1
}
- Line {
- ZOrder 190
- SrcBlock "Actuation"
- SrcPort 2
- DstBlock " Sensors "
- DstPort 2
- }
Line {
ZOrder 191
SrcBlock "Actuation"
@@ -9326,10 +9462,17 @@ Model {
DstPort 3
}
Line {
- ZOrder 197
+ ZOrder 190
+ SrcBlock "Actuation"
+ SrcPort 2
+ DstBlock " Sensors "
+ DstPort 2
+ }
+ Line {
+ ZOrder 200
SrcBlock " Sensors "
SrcPort 1
- Points [23, 0; 0, 370; -940, 0; 0, -320]
+ Points [2, 0; 0, 212; -903, 0; 0, -162]
DstBlock "Control System"
DstPort 2
}
@@ -9774,10 +9917,7 @@ Stateflow {
firstTransition 33
firstJunction 32
viewObj 25
- visible 1
machine 1
- subviewS {
- }
ssIdHighWaterMark 18
decomposition CLUSTER_CHART
type EML_CHART
@@ -11118,9 +11258,9 @@ Stateflow {
")\n\n% LOOP_TIME = 5*10^-3;\n% \n% prev_phi = prev_euler_angles_IMU(1);\n% prev_theta = prev_euler_angles_IMU(2)"
";\n% \n% phi_dot_gyro = euler_angles_gyro(1);\n% theta_dot_gyro = euler_angles_gyro(2);\n\n% phi = 0.98 * ( prev"
"_phi + phi_dot_gyro * LOOP_TIME ) + 0.02 * accel_roll;\n% theta = 0.98 * ( prev_theta + theta_dot_gyro * LOOP_TI"
- "ME) + 0.02 * accel_pitch;\nk_gyro = 1; \nk_accel = 1-k_gyro; \n\nphi = k_gyro * ( euler_angles_gyro(1) ) + k_acc"
- "el * accel_roll;\ntheta = k_gyro * ( euler_angles_gyro(2) ) + k_accel * accel_pitch;\n\neuler_angles_IMU = [phi;"
- " theta];\n"
+ "ME) + 0.02 * accel_pitch;\nk_gyro = 0.98; \nk_accel = 1-k_gyro; \n\nphi = k_gyro * ( euler_angles_gyro(1) ) + k_"
+ "accel * accel_roll;\ntheta = k_gyro * ( euler_angles_gyro(2) ) + k_accel * accel_pitch;\n\neuler_angles_IMU = [p"
+ "hi; theta];\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
@@ -11772,10 +11912,7 @@ Stateflow {
firstTransition 133
firstJunction 132
viewObj 126
- visible 1
machine 1
- subviewS {
- }
ssIdHighWaterMark 10
decomposition CLUSTER_CHART
type EML_CHART
--
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